Claims
- 1. A multi-joint robot controller (RC) for performing predetermined tasks by operating, in cooperation, a multi-joint-robot (R) and a rotary table (T), comprising:
- position detection means (C1) for detecting a position of an arm (RA) of the multi-joint robot (R) as coordinates of a robot assigned coordinate system (O-XYZ) assigned to the multijoint robot (R);
- specific point detection means (C2) for detecting coordinates of a specific point (TA) on the rotary table (T) in the robot assigned coordinate system (O-XYZ) at three or more different positions occupied by said specific point, said specific point occupying different positions by virtue of rotation of said rotary table, said coordinates being detected by the position detection means (C1); and
- table attitude calculation means (C3) for calculating a center of rotation and an attitude of rotation of the rotary table (T) in the robot assigned coordinate system (O-XYZ) from said coordinates.
- 2. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position and attitude of the rotary table (T) calculated by said table attitude calculation means (C3) is stored as a transformation matrix (U) for transforming from a table assigned coordinate system (O1-X1Y1Z1) to the robot assigned coordinate system (O-XYZ).
- 3. The multi-joint robot controller (RC) as claimed in claim 1, wherein the attitude of the rotary table (T) is represented by a center of rotation and an inclination of the axis of rotation of the rotary table (T).
- 4. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position detection means (C1) detects the position of the arm of the robot from every rotating angle of the joints of the multi-joint robot.
- 5. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position detection means (C1) detects the position of the arm of the robot from every driving signal outputted to serve systems of the multi-joint robot.
- 6. The multi-joint robot controller (RC) as claimed in claim 1, wherein the multi-joint robot controller (RC) operates a multi-joint robot (R) and a plurality of rotary tables (T), in cooperation, and the table attitude calculation means (C3) calculates every attitude of the tables (T).
Priority Claims (1)
Number |
Date |
Country |
Kind |
60-123940 |
Jun 1985 |
JPX |
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Parent Case Info
This is a continuation of application Ser. No. 870,993, filed June 5, 1986, abandoned.
US Referenced Citations (13)
Foreign Referenced Citations (2)
Number |
Date |
Country |
0108549 |
May 1984 |
EPX |
2060204A |
Apr 1981 |
GBX |
Continuations (1)
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Number |
Date |
Country |
Parent |
870993 |
Jun 1980 |
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