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Setting method and setting apparatus for operation path for articulated robot

A multi-joint, robotic technology, applied in the direction of instruments, manipulators, simulators, etc., can solve problems such as long-term cycles

Inactive Publication Date: 2004-06-23
HONDA MOTOR CO LTD
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Problems solved by technology

It took a long period of time to perform the teaching

Method used

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  • Setting method and setting apparatus for operation path for articulated robot
  • Setting method and setting apparatus for operation path for articulated robot
  • Setting method and setting apparatus for operation path for articulated robot

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Embodiment Construction

[0066] The following will refer to Figure 1-21 An illustrative embodiment of the setting method and setting apparatus for the operation path of the articulated robot of the present invention will be explained.

[0067] Basically, in the setting method and setting device for the operation path of the articulated robot according to this embodiment of the present invention, when extracting a workpiece in which there is a workpiece, the end effector provided on the front end of the articulated robot is moved from During the narrow operation where the operation point on the workpiece is retracted, the operation path is set when investigating the disturbed part in the internal space surrounded by the welding torch device. During a wide-area operation for moving between retracted positions, an operation path is set to move to an arrival point while avoiding obstacles by operating when combined with a template operation that moves a specified distance from a starting point in a speci...

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Abstract

A temporary operation path is set by connecting a plurality of welding points (Tn) in a virtual space generated by a computer to investigate whether an end effector (68) can be operated along the temporary operation path. If the operation cannot be operated, a path to avoid interference with a workpiece (80) is set automatically while extracting a portion in which the workpiece (80) exists in the internal space surrounded by the end effector (68) in order to set a narrow-area operation path for withdrawing the end effector (68) from a welding point (Tn). Next, in order to set a wide-area operation path for making movement between withdrawing points (Ue), a template operation is applied, in which the end effector (68) is moved by a prescribed distance in a prescribed direction.

Description

technical field [0001] The present invention relates to a setting method and setting device for an operation path of a articulated robot. Specifically, the present invention relates to an operation path setting method and setting device for an articulated robot for setting a path for operating an end effector provided on a front end of an articulated robot, between predetermined operation points. Background technique [0002] Conventionally, if an articulated robot installed for a production line is directly operated to perform teaching of an operation posture, an operator skilled in articulated robot operation performs the operation at a work point of the production line. Therefore, the operation becomes inefficient. This will also be done by stopping the production line. Therefore, the equipment turnover rate of the production line is reduced. [0003] In recent years, teaching is performed based on an off-line program (off-line teaching) to efficiently perform a teachi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K11/11B23K11/24B25J9/16B25J9/18B25J9/22G05B19/18G05B19/4061G05B19/42
CPCG05B2219/45104B25J9/1666G05B2219/39094B23K11/11
Inventor 柴田薰中岛陵金子正胜
Owner HONDA MOTOR CO LTD
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