JPS55147708A - Control system for industrial robot - Google Patents
Control system for industrial robotInfo
- Publication number
- JPS55147708A JPS55147708A JP5589679A JP5589679A JPS55147708A JP S55147708 A JPS55147708 A JP S55147708A JP 5589679 A JP5589679 A JP 5589679A JP 5589679 A JP5589679 A JP 5589679A JP S55147708 A JPS55147708 A JP S55147708A
- Authority
- JP
- Japan
- Prior art keywords
- error
- locus
- axis
- response
- axes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
Abstract
PURPOSE: To perform the continuous locus control with high accuracy, by detecting the locus error of working tool due to the operation of the operation axis deficient in response characteristics, feeding back the amount of correction calculated from this error to the operation axis of good response to correct the locus error by operation axis.
CONSTITUTION: The operation axes 1W6 have different response, and position control systems 101W106 are provided corresponding to each axis. Further, the operation axes 1W6 corresponding to this position control system are independently followed to the position indication values indicated in a given time interval, and the working tool 7 fitted at the finger tip of the robot is in continuous locus control. In this case, the locus error of the working tool 7 deficient in the response, for example, caused by the operation of the operation axis, is detected, and the amount of correction calculated from this error is fed back to the operation axes 4W6 having good response, and the locus error by the operation axes 1W3 is corrected 11. Thus, high speed corrective operation is enabled and the continuous locus control with high accuracy can be made.
COPYRIGHT: (C)1980,JPO&Japio
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5589679A JPS55147708A (en) | 1979-05-08 | 1979-05-08 | Control system for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5589679A JPS55147708A (en) | 1979-05-08 | 1979-05-08 | Control system for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS55147708A true JPS55147708A (en) | 1980-11-17 |
| JPS6137645B2 JPS6137645B2 (en) | 1986-08-25 |
Family
ID=13011872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5589679A Granted JPS55147708A (en) | 1979-05-08 | 1979-05-08 | Control system for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS55147708A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638074A (en) * | 2018-06-13 | 2018-10-12 | 杭州电子科技大学 | A kind of multi-degree-of-freemechanical mechanical arm cycling method that can eliminate hysterisis error |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63245028A (en) * | 1987-03-31 | 1988-10-12 | Nec Corp | Automatic gain control circuit |
| JPH02155321A (en) * | 1988-12-08 | 1990-06-14 | Fujitsu Ltd | Optical receiver |
-
1979
- 1979-05-08 JP JP5589679A patent/JPS55147708A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638074A (en) * | 2018-06-13 | 2018-10-12 | 杭州电子科技大学 | A kind of multi-degree-of-freemechanical mechanical arm cycling method that can eliminate hysterisis error |
| CN108638074B (en) * | 2018-06-13 | 2020-04-07 | 杭州电子科技大学 | Multi-degree-of-freedom mechanical arm rotation method capable of eliminating return stroke errors |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6137645B2 (en) | 1986-08-25 |
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