JPS647107A - Weaving device for industrial robot - Google Patents
Weaving device for industrial robotInfo
- 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
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.
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)
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)
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 |
-
1987
- 1987-06-30 JP JP16133987A patent/JPS647107A/en active Pending
Patent Citations (2)
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)
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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