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Robot-system

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Robot system

Details

Inventors: Kato, Tetsuaki; Tsuchida, Yukinobu; Someya, Makoto;
Assignee: Fanuc LTD (Yamanashi, JP)
Primary Examiner: Black; Thomas G.
Assistant Examiner: Marc; McDieunel
Attorney, Agent or Firm: Staas & Halsey LLP

A robot system capable of performing automatic updating of data inherent to a robot mechanism section or a mechanical unit thereof when changing the robot mechanism section or the mechanical unit. After changing the robot mechanism section or the mechanical unit, data of identifiers are read by a robot control section from nonvolatile memories associated with encoders in the robot mechanism section or the mechanical unit automatically upon turning-on of a power supply on or a manual operation. If it is determined that a kind of the robot is changed, the data indicating the kind of robot is rewritten in the robot control section. If it is required to change an algorithm for forward/inverse transformation for calculation of a robot locus, the algorithm is changed. If a kind of the robot is not changed, it is determined whether individuality of the whole robot mechanism section or the mechanical unit is changed or not. If there is a change in the individuality, the data inherent to the individuality is read from the nonvolatile memories to update the corresponding data in the robot control section.

DETAILED DESCRIPTION The present invention provides a robot system capable of performing a proper operation without performing laborious calibration on dimensions or angular configurations of respective components of a robot mechanism section or a mechanical unit constituting the robot mechanical section, or re-setting of parameters for controlling a locus of the robot when the whole mechanism section or the mechanical unit is changed with another one.
According to one aspect of the present invention, a robot system comprises: a changeable robot mechanism section; a robot control section for controlling respective axes of the robot mechanism section; and a memory provided at the robot mechanism section, and storing information concerning parameters inherent to individuality of the robot mechanism section to be used in calculation of a locus control of the robot mechanism section by the robot control section, the memory being connected with the robot control section so that the stored information is read by the robot control section.
According to another aspect of the present invention, a robot system comprises: a robot mechanism section including a changeable mechanical unit; a robot control section for controlling respective axes of the robot mechanism section; and a memory provided at the mechanical unit and storing information concerning parameters inherent to individuality of the changeable mechanical unit to be used in calculation of a locus control of the robot mechanism section by the robot control section, the memory being connected with the robot control section so that the stored information is read by the robot control section.
It is preferable that the stored information includes information designating an algorithm to be used in calculation of the robot locus by the control section.
The stored information may include data of a measured or estimated value of a length of a predetermined part of the mechanism section.
Alternatively, the stored information may include data of an error between a measured or estimated value and a design value of a length of a predetermined part of the mechanism section

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