Method and apparatus for programming a computer operated robot arm

Claim 1

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of first signals representing first coordinate values relative to the first coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinate values of the end points; d. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the first coordinate system; e. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and f. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 2

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of first signals representing first coordinate values relative to the first coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinate values of the end points; d. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the first coordinate system; e. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and f. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 3

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of second signals representing second coordinate values relative to the second coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of second signals for producing sets of first signals representing first coordinate values of the end points relative to the first coordinate system; d. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinate values of the end points; e. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the second coordinate system; f. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 4

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of second signals representing second coordinate values relative to the second coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of second signals for producing sets of first signals representing first coordinate values of the end points relative to the first coordinate system; d. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinate values of the end points; e. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the second coordinate system; f. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 13

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of second signals representing second coordinate values relative to the second coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of second signals for producing sets of first signals representing first coordinate values of the end points relative to the first coordinate system; d. means responsive to the sets of second signals for producing sets of individual control signals representing generalized coordinate values of the end points; e. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the second coordinate system; f. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 14

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of second signals representing second coordinate values relative to the second coordinate system of successive end points having a locus along the selected axis; c. means responsive to the sets of second signals for producing sets of first signals representing first coordinate values of the end points relative to the first coordinate system; d. means responsive to the sets of second signals for producing sets of individual control signals representing generalized coordinate values of the end points; e. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the second coordinate system; f. means responsive to the end of the robot arm being moved to each of the predetermined points for transferring to the memory a set of first signals defining a set of input signals and representing first coordinate values of the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program.

Claim 15

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing command signals to command motions of the end of the robot arm along selected axes relative to the first coordinate system, said commanded motions being independent of the predetermined paths; b. means responsive to the command signals for producing a plurality of sets of first signal representing first coordinate values relativE to the first coordinate system defining the positions of and orientations at successive sets of end points having loci along the selected axes; c. means responsive to the plurality of sets of first signals for producing a plurality of sets of individual control signals representing generalized coordinate values of the sets of end points; d. means responsive to the plurality of sets of individual control signals for causing the actuators to move the end of the robot arm to the sets of end points along the selected axes relative to the first coordinate system; e. means responsive to the end of the robot arm being moved to a number of the predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; f. means responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for transferring to the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values defining the position of and orientation at the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 16

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for producing command signals to command motions of the end of the robot arm along selected axes relative to the first coordinate system, said commanded motions being independent of the predetermined paths; b. means responsive to the command signals for producing a plurality of sets of first signal representing first coordinate values relativE to the first coordinate system defining the positions of and orientations at successive sets of end points having loci along the selected axes; c. means responsive to the plurality of sets of first signals for producing a plurality of sets of individual control signals representing generalized coordinate values of the sets of end points; d. means responsive to the plurality of sets of individual control signals for causing the actuators to move the end of the robot arm to the sets of end points along the selected axes relative to the first coordinate system; e. means responsive to the end of the robot arm being moved to a number of the predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; f. means responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for transferring to the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values defining the position of and orientation at the predetermined point; and g. means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 17

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means manually initiated for producing command signals to command motions of the end of the robot arm along selected axes relative to a second coordinate system different from the generalized coordinate system, said commanded motions being independent of the predetermined paths; b. means responsive to the command signals for producing a plurality of sets of second signals representing second coordinate values relative to the second coordinate system defining the positions of and orientations at successive sets of end points having loci along the selected axes; c. means responsive to the plurality of sets of second signals for producing a plurality of sets of first signals representing first coordinate values defining the positions of and orientations at the end points relative to the first coordinate system; d. means responsive to the plurality of sets of first signals for producing a plurality of sets of individual control signals representing generalized coordinate values of the sets of end points; e. means responsive to the plurality of sets of individual control signals for causing the actuators to move the end of the robot arm to the sets of end points along the selected axes relative to the second coordinate system; f. manually initiated means responsive to the end of the robot arm being moved to a number of the predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; g. manually initiated meanS responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for storing in the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values defining the position of and orientation at the predetermined point; and h. means manually initiated for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 18

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means manually initiated for producing command signals to command motions of the end of the robot arm along selected axes relative to a second coordinate system different from the generalized coordinate system, said commanded motions being independent of the predetermined paths; b. means responsive to the command signals for producing a plurality of sets of second signals representing second coordinate values relative to the second coordinate system defining the positions of and orientations at successive sets of end points having loci along the selected axes; c. means responsive to the plurality of sets of second signals for producing a plurality of sets of first signals representing first coordinate values defining the positions of and orientations at the end points relative to the first coordinate system; d. means responsive to the plurality of sets of first signals for producing a plurality of sets of individual control signals representing generalized coordinate values of the sets of end points; e. means responsive to the plurality of sets of individual control signals for causing the actuators to move the end of the robot arm to the sets of end points along the selected axes relative to the second coordinate system; f. manually initiated means responsive to the end of the robot arm being moved to a number of the predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; g. manually initiated meanS responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for storing in the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values defining the position of and orientation at the predetermined point; and h. means manually initiated for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 19

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing rectangular coordinate values relative to a rectangular coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system, the apparatus comprising: a. manually initiated means for selectively providing

Claim 20

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing rectangular coordinate values relative to a rectangular coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system, the apparatus comprising: a. manually initiated means for selectively providing

Claim 21

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. manually initiated means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a teaching coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of first signals representing first coordinate values relative to the first coordinate system of successive end points having a locus along the selected axis of the teaching coordinate system; c. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinates of the end points; d. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the teaching coordinate system; e. manually initiated means responsive to the end of the robot arm being moved to a number of predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; f. manually initiated means responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for storing in the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values of the predetermined point; and g. manually initiated means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with the subsequent predetermined points.

Claim 22

An apparatus for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. manually initiated means for producing a command signal to command motion of the end of the robot arm along a selected axis relative to a teaching coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. means responsive to the command signal for producing sets of first signals representing first coordinate values relative to the first coordinate system of successive end points having a locus along the selected axis of the teaching coordinate system; c. means responsive to the sets of first signals for producing sets of individual control signals representing generalized coordinates of the end points; d. means responsive to the sets of individual control signals for causing the actuators to move the end of the robot arm to the end points along the selected axis relative to the teaching coordinate system; e. manually initiated means responsive to the end of the robot arm being moved to a number of predetermined points for providing first input signals, each first input signal representing a functional operation of the robot arm at a corresponding predetermined point during the automatic mode; f. manually initiated means responsive to the first input signals and the end of the robot arm being moved to each of the predetermined points for storing in the memory a first input signal and a set of first signals defining second input signals and representing first coordinate values of the predetermined point; and g. manually initiated means for generating and storing in the memory further input signals to identify one of the predetermined points as a repeat point, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with the subsequent predetermined points.

Claim 40

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connecting by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of first signals representing first coordinate values relative to the first coordinate system of an end point lying along the selected axis; c. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; d. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a predetermined point; f. storing in the memory input signals corresponding to a set of first signals representing first coordinate values of the predetermined point; g. iterating steps (a) through (f) to cause input signals to be stored for each of the predetermined points; h. producing further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program; and i. storing the further input signals in the memory.

Claim 41

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connecting by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of first signals representing first coordinate values relative to the first coordinate system of an end point lying along the selected axis; c. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; d. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a predetermined point; f. storing in the memory input signals corresponding to a set of first signals representing first coordinate values of the predetermined point; g. iterating steps (a) through (f) to cause input signals to be stored for each of the predetermined points; h. producing further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program; and i. storing the further input signals in the memory.

Claim 42

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of thE robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system of an end point coincident with the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the second coordinate system; f. iterating steps (a) through to cause the end of the robot arm to move to a predetermined point; g. storing a set of first signals defining the input signals and representing the first coordinate values of the predetermined point; h. iterating steps (a) through (g) to store a set of input signals for each of the predetermined points in the program; i. producing further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program; and j. storing the further input signals in the memory.

Claim 43

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of thE robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system of an end point coincident with the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the second coordinate system; f. iterating steps (a) through to cause the end of the robot arm to move to a predetermined point; g. storing a set of first signals defining the input signals and representing the first coordinate values of the predetermined point; h. iterating steps (a) through (g) to store a set of input signals for each of the predetermined points in the program; i. producing further input signals to identify one of the predetermined points as a repeat point thereby defining the repetitive cycle of the program; and j. storing the further input signals in the memory.

Claim 44

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, sets of first signals representing first coordinate values relative to the first coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; d. activating the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the first coordinate system; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; f. storing in the memory a set of first signals defining first input signals and representing first coordinate values defining the position of and orientation at the predetermined point; g. providing a second input signal representing a functional operation of the robot arm to be executed at the predetermined point during the automatic mode of operation; h. storing the second input signal; i. iterating steps (a) through (h) to store input signals representing the position of and orientation at each of the predetermined points and the functions associated therewith; j. producing further input signals to identify at one of the predetermined points as a repeat poInt; and k. storing the further input signals in the memory, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 45

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to the first coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, sets of first signals representing first coordinate values relative to the first coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; d. activating the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the first coordinate system; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; f. storing in the memory a set of first signals defining first input signals and representing first coordinate values defining the position of and orientation at the predetermined point; g. providing a second input signal representing a functional operation of the robot arm to be executed at the predetermined point during the automatic mode of operation; h. storing the second input signal; i. iterating steps (a) through (h) to store input signals representing the position of and orientation at each of the predetermined points and the functions associated therewith; j. producing further input signals to identify at one of the predetermined points as a repeat poInt; and k. storing the further input signals in the memory, whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 46

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of second signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; f. iterating steps (a) through (e) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; g. producing second input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; h. storing in the memory a set of second input signals and a set of first input signals corresponding to a set of first signals representing the first coordinate values defining the position of and orientation at the predetermined point; i. iterating steps (a) through (h) for each of the predetermined points; j. producing further input signals to identify one of the predetermined points as a repeat point; and k. storing the further input signals in the memory, whereby during the automatic mode of operation, the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 47

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said commanded motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of second signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; f. iterating steps (a) through (e) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; g. producing second input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; h. storing in the memory a set of second input signals and a set of first input signals corresponding to a set of first signals representing the first coordinate values defining the position of and orientation at the predetermined point; i. iterating steps (a) through (h) for each of the predetermined points; j. producing further input signals to identify one of the predetermined points as a repeat point; and k. storing the further input signals in the memory, whereby during the automatic mode of operation, the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 48

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said command motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; f. iterating steps (a) through (e) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; g. storing in the memory a set of first input signals corresponding to a set of first signals representing the first coordinate values defining the position of and orientation at the predetermined point; h. producing second input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; i. storing the second input signals; j. iterating steps (a) through (i) for each of the predetermined points; k. producing further input signals to identify one of the predetermined points as a repeat point; and l. storing the further input signals in the memory, whereby during the automatic mode of operation, the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 49

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system defining the positions of and orientations at predetermined points being connected by predetermined paths generated during the automatic mode, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a second coordinate system different from the generalized coordinate system, said command motion being independent of the predetermined paths; b. producing, in response to the command signal, a set of second signals representing second coordinate values relative to the second coordinate system defining the position of and orientation at an end point lying along the selected axis; c. producing, in response to the set of second signals, a set of first signals representing first coordinate values of the end point relative to the first coordinate system; d. producing, in response to the set of first signals, a set of individual control signals representing generalized coordinate values of the end point; e. driving the actuators in response to the set of individual control signals to move the end of the robot arm along the selected axis to the end point; f. iterating steps (a) through (e) to cause the end of the robot arm to move to a position of and orientation at a predetermined point; g. storing in the memory a set of first input signals corresponding to a set of first signals representing the first coordinate values defining the position of and orientation at the predetermined point; h. producing second input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; i. storing the second input signals; j. iterating steps (a) through (i) for each of the predetermined points; k. producing further input signals to identify one of the predetermined points as a repeat point; and l. storing the further input signals in the memory, whereby during the automatic mode of operation, the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 50

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing rectangular coordinate values relative to a rectangular coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said rectangular coordinate system, the apparatus comprising: a. selectively producing a rectangular coordinate teaching signal and a cylindrical coordinate teaching signal; b. producing

Claim 51

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing rectangular coordinate values relative to a rectangular coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said rectangular coordinate system, the apparatus comprising: a. selectively producing a rectangular coordinate teaching signal and a cylindrical coordinate teaching signal; b. producing

Claim 52

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a teaching coordinate system independent of the generalized coordinate system, said commanded motion being independent of the predetermined path; b. producing in response to the command signal a set of first signals representing first coordinate values relative to the first coordinate system of an end point lying along the selected axis; c. producing in response to the set of first signals a set of individual control signals representing generalized coordinate values of the end point; d. driving the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the teaching coordinate system; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a predetermined point; f. providing first input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; g. storing in the memory the first input signals and second input signals corresponding to a set of first signals representing first coordinate values of the predetermined point; h. iterating steps (a) through (g) to store a set of input signals for each of the predetermined points; i. producing further input signals to identify one of the predetermined points as a repeat point; and j. storing the further input signals whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.

Claim 53

A method for generating a program for a robot arm operated by a controller having a memory thereby integrating said robot arm into a physical process by executing a repetitive cycle of the program in an automatic mode of operation during the execution of said process, said program being comprised in part of input signals representing first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated during the automatic mode of operation, said robot arm having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of an end of the robot arm, and said robot arm having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the method comprising the steps of: a. producing a command signal to command motion of the end of the robot arm along a selected axis relative to a teaching coordinate system independent of the generalized coordinate system, said commanded motion being independent of the predetermined path; b. producing in response to the command signal a set of first signals representing first coordinate values relative to the first coordinate system of an end point lying along the selected axis; c. producing in response to the set of first signals a set of individual control signals representing generalized coordinate values of the end point; d. driving the actuators in response to the set of individual control signals to move the end of the robot arm to the end point along the selected axis relative to the teaching coordinate system; e. iterating steps (a) through (d) to cause the end of the robot arm to move to a predetermined point; f. providing first input signals representing a functional operation of the robot arm at the predetermined point during the automatic mode of operation; g. storing in the memory the first input signals and second input signals corresponding to a set of first signals representing first coordinate values of the predetermined point; h. iterating steps (a) through (g) to store a set of input signals for each of the predetermined points; i. producing further input signals to identify one of the predetermined points as a repeat point; and j. storing the further input signals whereby during the automatic mode of operation the end of the robot arm moves through the repetitive cycle comprised of the predetermined paths connecting the repeat point with subsequent predetermined points.