WO1991004522A1 - Synchronized teaching of a robot cell - Google Patents

Synchronized teaching of a robot cell Download PDF

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Publication number
WO1991004522A1
WO1991004522A1 PCT/FI1990/000192 FI9000192W WO9104522A1 WO 1991004522 A1 WO1991004522 A1 WO 1991004522A1 FI 9000192 W FI9000192 W FI 9000192W WO 9104522 A1 WO9104522 A1 WO 9104522A1
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WO
WIPO (PCT)
Prior art keywords
robot
point
workpiece
taught
teaching
Prior art date
Application number
PCT/FI1990/000192
Other languages
French (fr)
Inventor
Ilpo Haipus
Original Assignee
Aitec Oy
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 Aitec Oy filed Critical Aitec Oy
Publication of WO1991004522A1 publication Critical patent/WO1991004522A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39134—Teach point, move workpiece, follow point with tip, place tip on next point
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This invention relates to a method of con ⁇ trolling the movements of a robot and a workpiece manipulator (rotary table) synchronously during the teaching of the robot cell.
  • the robot and the rotary table can be operated in synchronization with each other when repeating a taught program path, thus obtaining a controlled path movement with respect to the workpiece positioned on the rotary table.
  • the systems enable complicated paths as compared with systems with no synchronization.
  • a frequent problem associated with the teaching of this kind of robot system is that to avoid the risk of collision the robot usually has to be displaced sufficiently far from the rotary table be ⁇ fore each moving operation of the manipulator. There ⁇ after the workpiece is turned into the desired posi- tion by means of the rotary table, and the tip point of the tool has to be driven to the required posi ⁇ tion, which has to be stored in the memory of the control system (cf. U.S. Patent 4,836,742, for instance). This occurs frequently during the teach- ing, so the teaching is time-consuming as compared with a system which does not comprise a rotary table. Also, the teaching of the points is difficult if there is little room available.
  • a welding robot cell comprising, for instance, a robot of five to six degrees of freedom and a workpiece manipulator (rotary table) of one to two degrees of freedom is a typical example in this respect.
  • the object of the present invention is to solve problems associated with the control of the movements of the robot and the rotary table during the teaching of the points.
  • the method of the invention is characterized by the steps of driving one cell component, that is, the robot or the work- piece manipulator, to a position required by the following point to be taught while the other com ⁇ ponent follows synchronously the one that is moved in such a way that the position of the robot tool with respect to the workpiece remains unchanged; driving the other cell component, that is, the robot of the workpiece manipulator, from the position of the point taught first to the following point, corresponding to the position of the other component, and storing the coordinates of said point in the memory; and repeat ⁇ ing the steps c to d until all the required points of the paths to be taught have been taught.
  • Figure 1 is a perspective view of a robot cell
  • Figure 2 shows a reduced model of the robot cell of Figure 1
  • Figure 3 is a block diagram of a robot cell control system
  • Figure 4 shows the operation of the different components of the robot cell during teaching.
  • the robot cell comprises a robot of at least three degrees of freedom, a rotary table of at least one degree of freedom, and a control unit controlling the robot and the table.
  • Figure 1 shows one specific system for realizing the synchronized teaching according to the invention.
  • a workpiece is attached to the rotary table 1 and a required tool to the robot 2, or vice versa.
  • the workpiece is attached to the rotary table, and the tool, in this case a welding burner 3, to the tool flange of the robot.
  • the joints of the robot and the rotary table may be e.g. rotary-type joints or linear joints.
  • the robot 2 is a joint mechanism of six degrees of freedom, in which all the joints are rotary joints.
  • the axes of rotation of the joints are indicated Jl, J2, J3, J4, J5, J6.
  • the rotary table 2 comprises two rotary joints the axes of which are indicated J7 (turning) and J8 (rotation).
  • each joint comprises a motor which can be operated through a respective joint servo.
  • the motors comprise absolute encoders from which signals are applied to the respective joint servos.
  • Figure 2 shows a reduced model of the arrangement of Figure 1.
  • the position of the rotary table is represented by a rectangular coordinate system T, a rectangular coordinate system W is posi ⁇ tioned in the fastening base of the robot; and a rectangular coordinate system P is positioned at the tip of the tool.
  • the position of the coordinate system T is determined by the joint angles of the axes of the rotary table.
  • the direction of the coordinate system W of the robot 2 is selected so that the z axis is set in parallel with the joint Jl, the y axis in parallel with the joint J2 when the joint angle of Jl is equal to 0, and the x axis is set perpendicular to the otherd axes.
  • the origin of the coordinate system W is positioned at the intersection B of the axes Jl and 32.
  • the origin of the coordinate system T is at the intersection A of the axes J7 and J8 (cf. Figure 1).
  • the position and orientation of the coordinate system P of the tool with respect to the coordinate system W depend on the joint angles Jl to J6 of the robot; the origin of the coordinate system of the tool is positioned at the tip point of the tool.
  • Path teaching according to the invention takes place point by point by first driving the tip point 4 of the tool by means of a manual control to a desired point. Thereafter the operator may change the orien- tstion between the tool and the workpiece by oper ⁇ ating the joints of the rotary table in synchroniza ⁇ tion with the robot. In welding, for instance, it is thus possible to find the right burner angle with respect to the workpiece to be welded without having to displace the robot to a safety distance and back because the orientation of the tool remains constant with respect to the coordinate system due to the synchronization.
  • the path calculation is performed with respect to the coordinate system T in place of the coordinate system VJ.
  • the calculation unit of the control system performs the required transformations from the coordinate system W to the coordinate system T and vice versa.
  • the control unit keeps the tip point of the tool in a constant posi ⁇ tion with respect to the workpiece positioned on the rotary table.
  • the orientation of the tool can be kept constant either with respect to the coordinate system T, whereby the tool remains in the same position with respect to the workpiece when operating the joints of the rotary table, or with respect to the coordinate system W, whereby the top of the tool remains in the same position with respect to the workpiece.
  • the control unit calculates, during each cal ⁇ culation period, the position Pw of the tool in the coordinate system VJ at this particular moment.
  • the point P can be presented in the form of a transforma- tion matrix w
  • the transformation of the point Pw from the co- ordinate system W to the coordinate system T takes place by multiplying the point Pw by the inverse mat ⁇ rix T' of the transformation matrix T describing the position and orientation of the coordinate system T
  • the matrix T is easy to determine when the po ⁇ sition- of the origin of the coordinate system T in the coordinate system W and the joint angles J7, J8 of the axes of the rotary table are known
  • the position vector (px,py,pz) of the calculated point Pw2 is used, and when calculating orientation vectors for the point Pw, the joint angles Jl to J6 of the robot are used. If the orientation of the tool is to be kept constant with respect to the coordinate system T, the joint angles Jl to J6 of the robot can be calculated directly from the point Pw2.
  • Figure 3 shows the robot cell control system by means of which the robot and the rotary table can be operated simultaneously. It is formed by a calcula- tion unit 5 and its program storage 6 which together form a data processing unit 4 indicated with broken lines; a manual control panel 7; and joint servos 8 connected to respective motors 9 and encoders 10 for the robot and the rotary table. Each joint servo 8 controls its joint Jl to J8 in response to instruc ⁇ tions received from the calculation unit 5.
  • the cal ⁇ culation unit may, for instance, instruct a de ⁇ termined joint serve 8 to drive up to a desired en ⁇ coder reading.
  • Figure 4 shows a practical situation. In the left a welding burner 3 is attached to the arm of the robot 2.
  • An arbitrary workpiece not shown is attached to the rotary table 1 by means of a jig or the like.
  • the point PI of the workpiece has just been taught to the robot cell by steering the welding burner 3 manually to a suitable position with respect to the rotary table 1.
  • the rotary table 1 has been turned with respect to the axis J7 of Figure 2 over a determined distance for the point to be taught next.
  • the arm of the robot 2 thereby automatical ⁇ ly follows the movement of the rotary table 1 to the point P2, in which the position of the tip of the welding burner 3 is constant with respect to the workpiece (not shown).
  • the teach ⁇ ing may also be such that the orientation of the tool remains constant with respect to the workpiece.
  • the new point P3 can nov; be taught to the system by driving the welding burner 3 by means of the robot to a new position, possibly by changing the position of the burner 3, into the point P3 shown in the figure. This is repeated until all the points PI to Pn re ⁇ quired for achieving a desired path are taught.

Abstract

The invention relates to a method of controlling the movements of a robot and a workpiece manipulator during the teaching of the robot cell. To achieve synchronized teaching of the robot cell the method comprises driving one cell component, that is, the robot (2) or the workpiece manipulator (1), to a position required by the following point (P3) to be taught, the other component following synchronously the moved one so that the position of the robot tool remains unchanged with respect to the workpiece; driving the other cell component, from the position of the point (P1) taught first to the following point (P3), corresponding to the position of the other component, and storing the coordinates of said point in the memory; and repeating said steps to teach all the required points of the paths to be taught.

Description

Synchronized teaching of a robot cell
This invention relates to a method of con¬ trolling the movements of a robot and a workpiece manipulator (rotary table) synchronously during the teaching of the robot cell.
In prior art systems the robot and the rotary table can be operated in synchronization with each other when repeating a taught program path, thus obtaining a controlled path movement with respect to the workpiece positioned on the rotary table. The systems enable complicated paths as compared with systems with no synchronization.
A frequent problem associated with the teaching of this kind of robot system (cell) is that to avoid the risk of collision the robot usually has to be displaced sufficiently far from the rotary table be¬ fore each moving operation of the manipulator. There¬ after the workpiece is turned into the desired posi- tion by means of the rotary table, and the tip point of the tool has to be driven to the required posi¬ tion, which has to be stored in the memory of the control system (cf. U.S. Patent 4,836,742, for instance). This occurs frequently during the teach- ing, so the teaching is time-consuming as compared with a system which does not comprise a rotary table. Also, the teaching of the points is difficult if there is little room available. A welding robot cell comprising, for instance, a robot of five to six degrees of freedom and a workpiece manipulator (rotary table) of one to two degrees of freedom is a typical example in this respect.
The object of the present invention is to solve problems associated with the control of the movements of the robot and the rotary table during the teaching of the points. To achieve this, the method of the invention is characterized by the steps of driving one cell component, that is, the robot or the work- piece manipulator, to a position required by the following point to be taught while the other com¬ ponent follows synchronously the one that is moved in such a way that the position of the robot tool with respect to the workpiece remains unchanged; driving the other cell component, that is, the robot of the workpiece manipulator, from the position of the point taught first to the following point, corresponding to the position of the other component, and storing the coordinates of said point in the memory; and repeat¬ ing the steps c to d until all the required points of the paths to be taught have been taught.
The other preferred embodiments of the inven¬ tion are characterized by what is disclosed in the attached claims.
In the following the invention will be de- scribed in greater detail by means of an example and with reference to the attached drawings, wherein
Figure 1 is a perspective view of a robot cell; Figure 2 shows a reduced model of the robot cell of Figure 1; Figure 3 is a block diagram of a robot cell control system; and
Figure 4 shows the operation of the different components of the robot cell during teaching.
The systematic use of the method of the inven- tion requires that the robot cell comprises a robot of at least three degrees of freedom, a rotary table of at least one degree of freedom, and a control unit controlling the robot and the table.
Figure 1 shows one specific system for realizing the synchronized teaching according to the invention. In this arrangement a workpiece is attached to the rotary table 1 and a required tool to the robot 2, or vice versa. In the following example, the workpiece is attached to the rotary table, and the tool, in this case a welding burner 3, to the tool flange of the robot.
The joints of the robot and the rotary table may be e.g. rotary-type joints or linear joints. In this particular case the robot 2 is a joint mechanism of six degrees of freedom, in which all the joints are rotary joints. The axes of rotation of the joints are indicated Jl, J2, J3, J4, J5, J6. The rotary table 2 comprises two rotary joints the axes of which are indicated J7 (turning) and J8 (rotation). As is known from the prior art, each joint comprises a motor which can be operated through a respective joint servo. To read the position of the joint, the motors comprise absolute encoders from which signals are applied to the respective joint servos. These components are known from the prior art and are not shown in Figure 1.
Figure 2 shows a reduced model of the arrangement of Figure 1. The position of the rotary table is represented by a rectangular coordinate system T, a rectangular coordinate system W is posi¬ tioned in the fastening base of the robot; and a rectangular coordinate system P is positioned at the tip of the tool. The position of the coordinate system T is determined by the joint angles of the axes of the rotary table.
The direction of the coordinate system W of the robot 2 is selected so that the z axis is set in parallel with the joint Jl, the y axis in parallel with the joint J2 when the joint angle of Jl is equal to 0, and the x axis is set perpendicular to the otherd axes. The origin of the coordinate system W is positioned at the intersection B of the axes Jl and 32.
The z axis of the coordinate system of the rotary table 1 points in the direction of the axis J8 ( = the direction of Jl ) ; and the x axis is set in parallel with the axis J7 and with the x axis of the coordinate system W when the axis J8 is at an angle of 0. The origin of the coordinate system T is at the intersection A of the axes J7 and J8 (cf. Figure 1).
The position and orientation of the coordinate system P of the tool with respect to the coordinate system W depend on the joint angles Jl to J6 of the robot; the origin of the coordinate system of the tool is positioned at the tip point of the tool.
Path teaching according to the invention takes place point by point by first driving the tip point 4 of the tool by means of a manual control to a desired point. Thereafter the operator may change the orien- tstion between the tool and the workpiece by oper¬ ating the joints of the rotary table in synchroniza¬ tion with the robot. In welding, for instance, it is thus possible to find the right burner angle with respect to the workpiece to be welded without having to displace the robot to a safety distance and back because the orientation of the tool remains constant with respect to the coordinate system due to the synchronization.
When the rotary table is operated synchronously with the robot, the path calculation is performed with respect to the coordinate system T in place of the coordinate system VJ. The calculation unit of the control system performs the required transformations from the coordinate system W to the coordinate system T and vice versa. When operating the joints of the rotary table during the teaching, the control unit keeps the tip point of the tool in a constant posi¬ tion with respect to the workpiece positioned on the rotary table. The orientation of the tool can be kept constant either with respect to the coordinate system T, whereby the tool remains in the same position with respect to the workpiece when operating the joints of the rotary table, or with respect to the coordinate system W, whereby the top of the tool remains in the same position with respect to the workpiece.
During one calculation period the synchronized teaching movements are calculated through the follow¬ ing steps:
- calculating the position Pw of the tool in the coordinate system W on the basis of the joint angles of the robot or utilizing the tool position calculated during the preceding calculation period,
- transforming the point Pw from the coordinate system W to the coordinate system T (point Pt) , - adding to the joint angles of the rotary table the angle of change required by the driving speed,
- calculating the position of the point Pt in the coordinate system VJ using the new joint angles of the rotary table (point Pw2) ,
- calculating new joint angles for the robot on the basis of the point Pw2.
The duration of the calculation period is constant, typically some tens of milliseconds. When performing synchronized teaching move¬ ments, the control unit calculates, during each cal¬ culation period, the position Pw of the tool in the coordinate system VJ at this particular moment. The point P can be presented in the form of a transforma- tion matrix w
Figure imgf000008_0001
where vector (px,py,pz) = position of the origin of the point vector (nx,ny,nz) = the x axis of the co¬ ordinate system of the tool at the point P vector (ox,oy,oz) = the y axis of the co¬ ordinate system of the tool at the point P vector (ax,ay,az) = the z axis of the co¬ ordinate system of the tool at the point P The transformation of the point Pw from the co- ordinate system W to the coordinate system T takes place by multiplying the point Pw by the inverse mat¬ rix T' of the transformation matrix T describing the position and orientation of the coordinate system T
Pt = T'*Pw
The matrix T is easy to determine when the po¬ sition- of the origin of the coordinate system T in the coordinate system W and the joint angles J7, J8 of the axes of the rotary table are known
T =
Figure imgf000008_0002
where C7 = cos ( J7 ) C8 = cos ( J8 )
57 = sin( J7 )
58 = sin( J8 ) vector (px,py,pz) = position of the origin of the coordinate system T in the coordinate system W
The transformation of the point Pt back to the coordinate system W is carried out as follows
Pw2 = T*Pt
If the orientation of the tool is to be kept constant with respect to the coordinate system W, the position vector (px,py,pz) of the calculated point Pw2 is used, and when calculating orientation vectors for the point Pw, the joint angles Jl to J6 of the robot are used. If the orientation of the tool is to be kept constant with respect to the coordinate system T, the joint angles Jl to J6 of the robot can be calculated directly from the point Pw2.
Figure 3 shows the robot cell control system by means of which the robot and the rotary table can be operated simultaneously. It is formed by a calcula- tion unit 5 and its program storage 6 which together form a data processing unit 4 indicated with broken lines; a manual control panel 7; and joint servos 8 connected to respective motors 9 and encoders 10 for the robot and the rotary table. Each joint servo 8 controls its joint Jl to J8 in response to instruc¬ tions received from the calculation unit 5. The cal¬ culation unit may, for instance, instruct a de¬ termined joint serve 8 to drive up to a desired en¬ coder reading. Figure 4 shows a practical situation. In the left a welding burner 3 is attached to the arm of the robot 2. An arbitrary workpiece not shown is attached to the rotary table 1 by means of a jig or the like. The point PI of the workpiece has just been taught to the robot cell by steering the welding burner 3 manually to a suitable position with respect to the rotary table 1. In the right the rotary table 1 has been turned with respect to the axis J7 of Figure 2 over a determined distance for the point to be taught next. Due to the synchronization according to the invention the arm of the robot 2 thereby automatical¬ ly follows the movement of the rotary table 1 to the point P2, in which the position of the tip of the welding burner 3 is constant with respect to the workpiece (not shown). As mentioned above, the teach¬ ing may also be such that the orientation of the tool remains constant with respect to the workpiece. The new point P3 can nov; be taught to the system by driving the welding burner 3 by means of the robot to a new position, possibly by changing the position of the burner 3, into the point P3 shown in the figure. This is repeated until all the points PI to Pn re¬ quired for achieving a desired path are taught.
It is obvious to one skilled in the art that the different embodiments of the invention are not limited to the above examples, but they can vary within the scope of the attached claims.

Claims

Claims :
1. A method of controlling the movements of a robot and a workpiece manipulator during the teaching of the robot cell, wherein the robot cell is taught paths required for machining operations to be per¬ formed on a workpiece attached to the workpiece manipulator by driving the tool (3) of the robot (2) to the different points of the workpiece to be taught and by storing the coordinates of the points in a memory, the method comprising the steps of: a) driving the tool (3) of the robot to a work- piece point (PI) to be machined first; b) storing the coordinates of the first work- piece point in the memory (6) of the control system of the robot cell ; c h a r a c t e r i z e d by the steps of c) driving one cell component, that is, the robot (2) or the workpiece manipulator (1), to a po- sition required by the following point (P3) to be taught while the other component follows synchronous¬ ly the one that is moved in such a way that the posi¬ tion of the robot tool with respect to the workpiece remains unchanged; d) driving the other cell component, that is, the robot (2) of the workpiece manipulator (1), from the position of the point (PI) taught first to the following point (P3 ) , corresponding to the position of the other component, and storing the coordinates of said point in the memory; and e) repeating the steps c to d until all the required points of the paths to be taught have been taught.
2. A method according to claim 1, c h a r a c - t e r i z e d in that mainly the workpiece manipulator ( 1 ) is controlled during the teaching so as to turn the workpiece to a suitable position for the point to be taught next, and that mainly the robot (2) is synchronized with the movements of the workpiece manipulator during the teaching.
3. A method according to claim 1, c h a r a c ¬ t e r i z e d in that mainly the robot (2) and its tool (3) are controlled during the teaching so that they point the coordinates of the point to be taught next, and that mainly the workpiece manipulator (1) is synchronized with the movements of the robot during the teaching.
PCT/FI1990/000192 1989-09-12 1990-08-09 Synchronized teaching of a robot cell WO1991004522A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI894306A FI83176C (en) 1989-09-12 1989-09-12 A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell
FI894306 1989-09-12

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US5197846A (en) * 1989-12-22 1993-03-30 Hitachi, Ltd. Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same
EP0607619A2 (en) * 1992-12-31 1994-07-27 Daihen Corporation Teaching control device for manual operations of an industrial robotic system
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WO2010000457A1 (en) 2008-07-03 2010-01-07 Ex-Cell-O Gmbh Machining installation for workpieces
WO2010003584A1 (en) 2008-07-09 2010-01-14 Dürr Systems GmbH Method and system for applying a coating material using a programmable robot
ITBO20100412A1 (en) * 2010-06-28 2011-12-29 Ferri Srl ATTACHMENT DEVICE TO AN ARTICULATED ARM OF A TOOL
CN105058382A (en) * 2015-08-04 2015-11-18 汕头大学 Novel series-parallel five-axis-linkage intelligent welding platform
JP2019147236A (en) * 2018-02-28 2019-09-05 株式会社アイエイアイ Robot system
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