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1. (WO1989000305) METHOD OF OPTIMIZING OPERATION OF ARTICULATED INDUSTRIAL ROBOT
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/1989/000305 International Application No.: PCT/JP1988/000656
Publication Date: 12.01.1989 International Filing Date: 30.06.1988
IPC:
B25J 9/16 (2006.01) ,G05B 19/418 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
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)
Applicants:
FANUC LTD [JP/JP]; 3580, Shibokusa Aza-Komanba Oshino-mura Minamitsuru-gun Yamanashi 401-05, JP (AllExceptUS)
TOYODA, Kenichi [JP/JP]; JP (UsOnly)
TORII, Nobutoshi [JP/JP]; JP (UsOnly)
NIHEI, Ryo [JP/JP]; JP (UsOnly)
YASUMURA, Mitsuhiro [JP/JP]; JP (UsOnly)
Inventors:
TOYODA, Kenichi; JP
TORII, Nobutoshi; JP
NIHEI, Ryo; JP
YASUMURA, Mitsuhiro; JP
Agent:
AOKI, Akira @; A. Aoki & Associates Seiko Toranomon Building 8-10, Toranomon 1-chome Minato-ku Tokyo 105, JP
Priority Data:
62/16112030.06.1987JP
Title (EN) METHOD OF OPTIMIZING OPERATION OF ARTICULATED INDUSTRIAL ROBOT
(FR) PROCEDE PERMETTANT D'OPTIMISER LE FONCTIONNEMENT D'UN ROBOT INDUSTRIEL ARTICULE
Abstract:
(EN) A method of optimizing the operation of an articulated industrial robot (10) having many moving parts (14, 16, 18, 20) that are articulated together. When programmed control is employed to drive the moving parts by their corresponding motors to move an end effector (22) from one position to another position, the speed condition and time constant during the operation of the moving parts (14 to 20) are not maintained constant but are allowed to vary by taking the torque interference into consideration. The optimum speed condition and time constant are calculated by a robot control unit (30), and the operation instruction is issued to the drive motor system of each of the moving parts (14 to 20) based upon the calculated values.
(FR) Procédé d'optimisation du fonctionnement d'un robot (10) industriel articulé ayant plusieurs parties mobiles (14, 16, 18, 20) articulées ensemble. Lorsqu'on utilise une commande programmée pour animer les parties mobiles au moyen de leurs moteurs correspondants, afin de faire se déplacer un effecteur (22) terminal d'une position à une autre, la nature de la vitese et la constante de temps pendant le fonctionnement des parties mobiles (14 à 20) ne sont pas maintenues constantes et peuvent varier en prenant en compte l'interférence des forces de torsion. La nature de la vitesse et la constante de temps optimales sont calculées par une unité (30) de commande du robot, et l'instruction de fonctionnement est envoyée au système de moteur d'entraînement de chacune des parties mobiles (14 à 20), sur la base des valeurs calculées.
Designated States: KR, US
European Patent Office (DE, FR, GB, IT)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)