Patent ID: 6285920
Filing Date: 2001-09-04
Classification: G05B

Abstract:
A method of teaching a robot (12) having a robot fixture (14) for cooperating with a workpiece (16), at least one sensor (18), and a microprocessor (22) for controlling motion of the robot fixture (14) relative to the workpiece (16), said method comprising the steps of:storing a predetermined selected spatial relationship between the robot fixture (14) and the workpiece (16) in the microprocessor (22);imparting movement onto the robot (12);recording the imparted movement on the robot (12) in the microprocessor (22) and using the recorded imparted movement to establish initial movement commands;continuously sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16) during movement of the robot (12);comparing the sensed spatial relationship of the robot fixture relative (14) to the workpiece (16) to the predetermined selected spatial relationship to determine a deviation from the predetermined selected spatial relationship between the robot fixture (14) and the workpiece (16);said method characterized by modifying the imparted movement on the robot (12) based upon the determined deviation from the predetermined selected spatial relationship between the robot fixture (14) and the workpiece (16) to maintain the predetermined selected spatial relationship of the robot fixture (14) relative to the workpiece (16) as the robot (12) moves relative to the workpiece (16) during teaching of the robot (12).