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Setting method and setting apparatus for operation path for articulated robot

一种多关节、机器人的技术，应用在仪器、机械手、模拟器等方向，能够解决长时间周期等问题

Inactive Publication Date: 2006-11-15
HONDA MOTOR CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Examples

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Embodiment Construction

[0067] 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.

[0068] 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

[0001] This application is a divisional application of the patent application with the filing date of November 22, 2001, the application number of 01823054.7, and the title of "Setting method and setting device for the operation path of the articulated robot". technical field [0002] 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 a setting method and setting device for an operation path of an articulated robot between predetermined operation points for operating a tip provided on a front end of an articulated robot. Executor settings path. Background technique [0003] 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B23K11/11B23K11/24B25J9/18B25J9/22B25J13/00G05B19/18G05B19/4061G05B19/42
CPCB23K11/11B25J9/1666G05B2219/39094G05B2219/45104
Inventor 柴田薰中岛陵金子正胜
Owner HONDA MOTOR CO LTD
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