Teachingless Finishing Robot System with Robot Controller Based on Multiple Personal Computers

摘要

Toshiba has developed a teachingless finishing robot system with a robot controller based on multiple personal computers. By using PCs for robot controllers, flexible robot controllers with force sensors and vision sensors can be realized that enable useful functions to be easily added compared with conventional dedicated controllers. The system performs finishing tasks on steel plates cut by gas cutting machine. When an operator places a steel plate on the worktable, the robot system performs finishing tasks by measuring the unknown shape of the steel plate with a CCD camera.This paper describes the kinematic definition of finishing tasks, outlines the robot system, and presents automatically generated algorithms for the robot language program.