Patent Document ID: 4817017
Application ID: 07169122
Patent Status: 1

Claim One:
1. In combination: a plurality of workpieces; a stationary industrial robot mounted at a fixed location comprising an actual site for performing predetermined tasks on said workpieces; a movable workpiece support which carries each workpiece to said stationary robot; and an improved control system for said robot, comprising: (a) first memory means for storing information representative of a plurality of teaching points taught in an off-line environment different from the actual task site for performing the predetermined tasks, (b) second memory means for storing information representative of actual points which correspond to predetermined points of the plurality of teaching points, the actual point information being taught at the actual task site and representing fewer points than the teaching points, (c) comparison means for comparing the actual point information stored in said second memory means and the corresponding teaching point information stored in said first memory means and for detecting differences between the actual point information and the corresponding teaching point information, (d) correction means (i) for correcting the teaching point information corresponding to the actual points on the basis of the differences detected by said comparison means, and (ii) for correcting the teaching point information for teaching points not having a corresponding actual point on the basis of a calculation based on the differences detected by said comparison means, and (e) third memory means for storing the teaching point information corrected by said correction means, and for outputting the corrected teaching point information in order to execute the predetermined tasks.