JPS6440290A - Profile controller for robot - Google Patents

Profile controller for robot

Info

Publication number
JPS6440290A
JPS6440290A JP19463787A JP19463787A JPS6440290A JP S6440290 A JPS6440290 A JP S6440290A JP 19463787 A JP19463787 A JP 19463787A JP 19463787 A JP19463787 A JP 19463787A JP S6440290 A JPS6440290 A JP S6440290A
Authority
JP
Japan
Prior art keywords
work
basis
image
sensor
head part
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP19463787A
Other languages
Japanese (ja)
Other versions
JP2543091B2 (en
Inventor
Eiichi Inada
Tadashi Mano
Masao Shiotsuki
Noboru Endo
Koichi Iwata
Koji Igura
Tsuneyoshi Takahashi
Tomofumi Nemoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meidensha Corp, Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Corp
Priority to JP62194637A priority Critical patent/JP2543091B2/en
Publication of JPS6440290A publication Critical patent/JPS6440290A/en
Application granted granted Critical
Publication of JP2543091B2 publication Critical patent/JP2543091B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To automatically generate a copying operation locus, by mounting a control part for operating a relative position and an attitude angle of a sensor of an image pick-up means and a work on the basis of an image information signal relating to a slit image projected on a work surface, and moving a head part at every predetermined specific pitch. CONSTITUTION: The slit images 20a, 20b on a work 9 are picked up by an image pick-up means 17 of a hand head part 5, and the condition of the slit images is detected by an image detecting means 19. The position between a sensor 15 of the image pick-up means 17 and the work 9, and the attitude are operated by an operating means 13 on the basis of the detected data. Simultaneously, an interval between a start point and an end point of the work 9 is divided according to a predetermined pitch interval which is variably programmable, and a partial surface shape of the work on each divided reference point, is automatically measured by a measuring means 13. The relative position between the sensor 15 and the work 9, and the attitude angle operated in advance, is corrected by a correcting means on the basis of these measurement data to obtain a desired value. Whereby the copying shape locus of a hard head part 5 between the start point and the end point of the work can be automatically generated.
JP62194637A 1987-08-04 1987-08-04 Robot copy control device Expired - Lifetime JP2543091B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62194637A JP2543091B2 (en) 1987-08-04 1987-08-04 Robot copy control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62194637A JP2543091B2 (en) 1987-08-04 1987-08-04 Robot copy control device

Publications (2)

Publication Number Publication Date
JPS6440290A true JPS6440290A (en) 1989-02-10
JP2543091B2 JP2543091B2 (en) 1996-10-16

Family

ID=16327826

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62194637A Expired - Lifetime JP2543091B2 (en) 1987-08-04 1987-08-04 Robot copy control device

Country Status (1)

Country Link
JP (1) JP2543091B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6445979B1 (en) 1999-11-05 2002-09-03 Fanuc Ltd. Operation line tracking device using sensor
JPWO2022071585A1 (en) * 2020-10-02 2022-04-07

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59201791A (en) * 1983-04-27 1984-11-15 株式会社日立製作所 Robot
JPS6042584U (en) * 1983-08-29 1985-03-26 フアナツク株式会社 Vision sensor for industrial robots
JPS6194106A (en) * 1984-10-13 1986-05-13 Mitsubishi Heavy Ind Ltd Control system of controlable manipulator
JPS61100809A (en) * 1984-10-22 1986-05-19 Toshiba Corp Three-dimensional teaching device of robot
JPS62194637A (en) * 1986-02-20 1987-08-27 Mitsubishi Electric Corp Detection of mark position

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59201791A (en) * 1983-04-27 1984-11-15 株式会社日立製作所 Robot
JPS6042584U (en) * 1983-08-29 1985-03-26 フアナツク株式会社 Vision sensor for industrial robots
JPS6194106A (en) * 1984-10-13 1986-05-13 Mitsubishi Heavy Ind Ltd Control system of controlable manipulator
JPS61100809A (en) * 1984-10-22 1986-05-19 Toshiba Corp Three-dimensional teaching device of robot
JPS62194637A (en) * 1986-02-20 1987-08-27 Mitsubishi Electric Corp Detection of mark position

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6445979B1 (en) 1999-11-05 2002-09-03 Fanuc Ltd. Operation line tracking device using sensor
JPWO2022071585A1 (en) * 2020-10-02 2022-04-07
WO2022071585A1 (en) * 2020-10-02 2022-04-07 川崎重工業株式会社 Robot system and control method for robot system

Also Published As

Publication number Publication date
JP2543091B2 (en) 1996-10-16

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