JPS647107A - Weaving device for industrial robot - Google Patents

Weaving device for industrial robot

Info

Publication number
JPS647107A
JPS647107A JP16133987A JP16133987A JPS647107A JP S647107 A JPS647107 A JP S647107A JP 16133987 A JP16133987 A JP 16133987A JP 16133987 A JP16133987 A JP 16133987A JP S647107 A JPS647107 A JP S647107A
Authority
JP
Japan
Prior art keywords
weaving
vector
coordinate system
points
stored
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.)
Pending
Application number
JP16133987A
Other languages
Japanese (ja)
Inventor
Kazuo Okabayashi
Keiichi Takaoka
Tatsuzo Nakazato
Shinji Okumura
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa 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 Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Priority to JP16133987A priority Critical patent/JPS647107A/en
Publication of JPS647107A publication Critical patent/JPS647107A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To always fix the direction of weaving to a work by rotating the direction of weaving around an outer product vector or a change in case of this change of the work going direction due to the weaving operation. CONSTITUTION:Teaching points P1-P3 teach a weld line, and position data of these points are preliminarily stored. Position data of a wall point Pw is stored also. A data group to determine a weaving pattern is stored also, and actual weaving is caused in accordance with these data, the speed in the going direction, and the weaving frequency. When a start command comes, this weaving device obtains a vector in the going direction in accordance with points P1 and P2 and stores it and obtains a weaving coordinate system. Known weaving is caused to obtain a vector at the point P2, and an angle theta between both vectors and an outer product vector are obtained. The coordinate system is rotated at this angle theta to store a new coordinate system.
JP16133987A 1987-06-30 1987-06-30 Weaving device for industrial robot Pending JPS647107A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16133987A JPS647107A (en) 1987-06-30 1987-06-30 Weaving device for industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16133987A JPS647107A (en) 1987-06-30 1987-06-30 Weaving device for industrial robot

Publications (1)

Publication Number Publication Date
JPS647107A true JPS647107A (en) 1989-01-11

Family

ID=15733200

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16133987A Pending JPS647107A (en) 1987-06-30 1987-06-30 Weaving device for industrial robot

Country Status (1)

Country Link
JP (1) JPS647107A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02197379A (en) * 1989-01-24 1990-08-03 Amada Co Ltd Welding machine
JP2007216232A (en) * 2006-02-14 2007-08-30 Daihen Corp Apparatus for controlling welding robot
US8323974B2 (en) 2003-08-05 2012-12-04 Monsanto Technology Llc Method for excision of plant embryos for transformation
US8362317B2 (en) 2007-03-09 2013-01-29 Monsanto Technology Llc Preparation and use of plant embryo explants for transformation
US8815596B2 (en) 2007-08-31 2014-08-26 Monsanto Technology Llc Method and apparatus for substantially isolating plant tissues

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60213362A (en) * 1984-04-06 1985-10-25 Kobe Steel Ltd Automatic weaving device of industrial robot
JPS6293709A (en) * 1985-10-18 1987-04-30 Nec Corp Robot controller

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60213362A (en) * 1984-04-06 1985-10-25 Kobe Steel Ltd Automatic weaving device of industrial robot
JPS6293709A (en) * 1985-10-18 1987-04-30 Nec Corp Robot controller

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02197379A (en) * 1989-01-24 1990-08-03 Amada Co Ltd Welding machine
US8323974B2 (en) 2003-08-05 2012-12-04 Monsanto Technology Llc Method for excision of plant embryos for transformation
JP2007216232A (en) * 2006-02-14 2007-08-30 Daihen Corp Apparatus for controlling welding robot
US8362317B2 (en) 2007-03-09 2013-01-29 Monsanto Technology Llc Preparation and use of plant embryo explants for transformation
US9790512B2 (en) 2007-03-09 2017-10-17 Monsanto Technology Llc Preparation and use of plant embryo explants for transformation
US11542514B2 (en) 2007-03-09 2023-01-03 Monsanto Technology, Llc Apparatus for the preparation and use of plant embryo explants for transformation
US8815596B2 (en) 2007-08-31 2014-08-26 Monsanto Technology Llc Method and apparatus for substantially isolating plant tissues

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