Method for controlling the three-dimensional relative movement between a robot and a work piece fastened to a work piece holder,申请号EP19870116245-传众专利搜索

Method for controlling the three-dimensional relative movement between a robot and a work piece fastened to a work piece holder

申请公布号：EP0271691(B2)

申请号：EP19870116245

申请日期：1987.11.04

申请公布日期：1998.11.11

申请人：

SIEMENS AKTIENGESELLSCHAFT

发明人：HOEHN, GEORG, DIPL.-ING.;HOOS, GERD, DIPL.-ING.;MEIER, CHRISTOF, DR.

分类号：B25J9/16;B25J9/18;G05B19/4093;G05B19/418;(IPC1-7):G05B19/418

主分类号：B25J9/16

摘要：<p>The method allows both translatorily and/or rotationally moved and unmoved work pieces (W2) to be machined by fixed or mobile robots (R2, R3, R). During this the own movement of the work piece (W2) is taken into consideration by the robot (R2, R3, R) using programming, open-loop and closed-loop control techniques. The path accuracy and path feed rate necessary for technological applications is maintained at the moved work piece (W2). The control problem is solved by way of transformation using a chain of coordinate systems (ROS, KS1, KS2, KS3, ZAS). What is important is that the overall transformation can be planned out freely by the user using parameters (VBE1...n, ZA1...n) according to the system configuration. <IMAGE></p>