Computerized Control of a Continuous Path Robot

A method to provide control of continuous type robots by means of a process minicomputer was developed and patented by FIAT‐SPE in 1974. The minicomputer acts as a robot controller using data stored in its magnetic core memory to reconstruct previously learned trajectories. It is possible to maintain within strict limits the memory size, thanks to an original processing method which limits the stored data to the “significant points” along each path. A prototype of the above system was developed during 1974 and operated in connection with a commercial 5‐axis manipulator. An engineered system is being developed and the first unit is scheduled for operative testing in early 1976. The system is capable of controlling several robots in time‐sharing. The reproduction speed of the original cycle can be continuously varied over a wide range and also controlled by the feeding rate of the parts to be processed.