Teaching control device for manual operation in an industrial robots-system
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United States of America Patent
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Sep 7, 1993
Grant Date -
N/A
app pub date -
Jul 2, 1992
filing date -
Jul 5, 1991
priority date (Note) -
In Force
status (Latency Note)
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Abstract
An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, 'a relative position and a relative attitude of a tool against a workpiece' are maintained substantially constant. When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece. The new setting state for teaching a new teaching point is established by means of sole-acting manipulating the tool from the aimed point manipulated by the workpiece handling robot to a new aimed on the workpiece.
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