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Extended Robot Motion Adjustment Techniques Using a Robotic Teach Pendant

IP.com Disclosure Number: IPCOM000060883D
Original Publication Date: 1986-May-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 1 page(s) / 13K

Publishing Venue

IBM

Related People

Colson, JC: AUTHOR [+2]

Abstract

During the life of a robotic application it is necessary to adjust motions to accommodate variations that occur in the application due to maintenance of fixtures, changes to the product being built, periodic maintenance of the manipulator and/or controller, etc. This can be a very time-consuming operation with poor results if done through normal teaching procedures. The time spent modifying motions can be greatly reduced by using a function called TOUCH-UP. Once a motion has been modified using TOUCH-UP, a related logical group of motions can be modified in minimum time. A method to minimize the amount of time required to modify the initial motion is described. The user has two basic modes through which the application can be run in TOUCH-UP. These are Play (PLY) and Step (STP) modes.

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Extended Robot Motion Adjustment Techniques Using a Robotic Teach Pendant

During the life of a robotic application it is necessary to adjust motions to accommodate variations that occur in the application due to maintenance of fixtures, changes to the product being built, periodic maintenance of the manipulator and/or controller, etc. This can be a very time-consuming operation with poor results if done through normal teaching procedures. The time spent modifying motions can be greatly reduced by using a function called TOUCH-UP. Once a motion has been modified using TOUCH-UP, a related logical group of motions can be modified in minimum time. A method to minimize the amount of time required to modify the initial motion is described. The user has two basic modes through which the application can be run in TOUCH-UP. These are Play (PLY) and Step (STP) modes. The PLY mode will let the application play through its tasks in much the same way that execution of the application would. This mode is usually best for verification of motion modifications. The STP mode will execute the application, one motion at a time. Between each motion it is necessary to either accept the resulting motion or change the endpoint which, in turn, changes the motion. It is only in this mode that motions can be altered. When the user wishes to change a motion or group of motions, it is necessary to activate the generalized motion teaching function. To activate the generalized motion teaching function, the user simply presses the GUIDE ACTIVATE key and TRGUIDE is activated. The tool frame description that was generated using TRGUIDE in the teaching mode is activated so that the user can perform the motion modification using either box frame motion or tool frame motion. Once an endpoint that will generate the desired motion is achie...