Process and system for programming robot movements

• Main Author: ARBTER; KLAUS
• Format: Patent
• Language: English
• Published: 30.06.1987
• Edition: 4
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; COUNTING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; HANDLING RECORD CARRIERS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; REGULATING; TRANSPORTING

There is provided a process and system for the memory-saving programming of the motional actions of a robot wherein a reference course is recorded first in the form of samples, which are then stored. For reducing the storage space, the recorded and stored samples are transformed into a Fourier matrix 0C by means of a Fourier analysis. Said matrix is then filed in a memory. From this Fourier matrix 0C, it is possible to derive Fourier matrices for courses with the same configuration, but with any desired position and orientation solely by a linear transformation of the coordinates in the form of a Fourier matrix 1C. With the help of the dynamical model of the robot used, the derived Fourier matrix 1C can be modified with adjustment to the desired speed, so as to compensate for the dynamical errors in the motional actions of the robot. For creating the course coordinates which the robot can then follow when performing its movements, the modified Fourier matrix C is subjected to a final Fourier synthesis with predetermination of an arc length (s) conforming to the desired course speed (v). In this way, not only is memory-saving programming achieved, but the dynamics of the robot can be compensated for within the spectral range irrespective of speed if the dynamics of the robot used can be represented by a transmission function.