Multiple robot arm tracking and mirror jog

A manipulator and mirroring technology, applied in the directions of manipulator, program-controlled manipulator, computer control, etc., can solve the problem of coordinate fretting that does not support mirror fretting, and achieve the effect of simplifying teaching

Inactive Publication Date: 2006-10-11
FANUC ROBOTICS NORTH AMERICA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also, coordinate jogging does not support mirror jogging; instead, it causes the follower to move in the same direction as the leader motion

Method used

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  • Multiple robot arm tracking and mirror jog
  • Multiple robot arm tracking and mirror jog
  • Multiple robot arm tracking and mirror jog

Examples

Experimental program
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Embodiment Construction

[0021] The present invention is a system 10 and method for jogging multiple industrial robots simultaneously. although figure 1 The system shown includes a lead robot 12 and a follower robot 14, but any number of follower robots may be included. Each robot 12, 14 has at least one manipulator 16 comprising at least one servo motor 18A, 18B for rotating the manipulator about an axis. The servo motor 18A of the first robot 12 is operatively connected to the first set of servo amplifiers 20 , while the servo motor 18B of the second robot 14 is operatively connected to the second set of servo amplifiers 22 . The servo amplifiers 20, 22 are operatively connected to and controlled by a robot controller 24, or each robot 12, 14 may have its own controller, connected in a network to a central or system controller 24.

[0022] The present invention allows the robots 12, 14 to move simultaneously and synchronously during manual jogging. Simultaneous movement is achieved by the control...

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PUM

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Abstract

A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of US Provisional Application No. 60 / 480,582, filed June 20, 2003, the entire contents of which are hereby incorporated by reference. technical field [0003] The invention relates to micro-movement of a plurality of industrial manipulators at the same time, and both the leader robot and the follower robot are incrementally displaced. More specifically, the present invention relates to a tracking jog mode, in which the slave machine tracks the movement of the leader machine, and a mirror jog mode, in which the movement of the lead machine is mirrored. Background technique [0004] The term "jog" is often referred to as teach-time, user-interactive robot motion. Users can teach multiple robots to automatically repeat the path of moving back and forth by teaching one robot and then passing the teaching program to other robots. This method is tedious if the robot has to do it concurre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/427B25J9/16
CPCB25J9/1669G05B2219/37572G05B2219/39122G05B2219/39445G05B2219/39135G05B2219/39136G05B19/427G05B2219/39083G05B2219/36454
Inventor 婷·L·陈H·迪安·麦吉埃里克·翁绍伊-卡伊·郑贾森·蔡
Owner FANUC ROBOTICS NORTH AMERICA
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