WORK SENSING METHOD FOR INDUSTRIAL ROBOT

PURPOSE:To improve the sensing accuracy with an industrial robot by securing at least one of the 1st direction where the sensing direction is turned toward the tip of a sensor on the center axial line and the 2nd direction which is rectangular to the center axial line within a plane including the ce...

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Bibliographische Detailangaben
1. Verfasser:	FUKUOKA HISAHIRO
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING
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Beschreibung
Zusammenfassung:	PURPOSE:To improve the sensing accuracy with an industrial robot by securing at least one of the 1st direction where the sensing direction is turned toward the tip of a sensor on the center axial line and the 2nd direction which is rectangular to the center axial line within a plane including the center axial line and rectangular to an orthogonal double axial plane. CONSTITUTION:A control means defines an X-Y plane rectangular to the axis Z as a prescribed orthogonal double axial plane PLXY among three orthogonal axes X-X. Then the control means calculates the 1st direction TN1 as the direction moving toward the electrode tip P of a center axial line N and the 2nd direction TN2 as a direction rectangular to the 1st direction TN1 on a single plane PLS including the line N and rectangular to the plane PLXY. Thus it is possible to obtain the 3-dimensional sensing direction based on the center axial line itself of a sensor. This improves greatly the sensing accuracy as well as the working accuracy.