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JPS573102A - Control device for industrial robot - Google Patents

Control device for industrial robot

Info

Publication number
JPS573102A
JPS573102A JP7854180A JP7854180A JPS573102A JP S573102 A JPS573102 A JP S573102A JP 7854180 A JP7854180 A JP 7854180A JP 7854180 A JP7854180 A JP 7854180A JP S573102 A JPS573102 A JP S573102A
Authority
JP
Japan
Prior art keywords
axes
working tool
control
correction quantities
phi
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
Application number
JP7854180A
Other languages
Japanese (ja)
Other versions
JPH0230041B2 (en
Inventor
Akiyuki Okada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daihen Corp
Original Assignee
Daihen Corp
Osaka Transformer Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daihen Corp, Osaka Transformer Co Ltd filed Critical Daihen Corp
Priority to JP7854180A priority Critical patent/JPH0230041B2/en
Publication of JPS573102A publication Critical patent/JPS573102A/en
Publication of JPH0230041B2 publication Critical patent/JPH0230041B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/25—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To control the position of a working tool accurately without delay, by reading out a forecasted quantity of change of the directional position at the tip of the working tool and by correcting this position on a basis of this forecasted value to control it. CONSTITUTION:A pulse distributor 10 receives position command signals (x), (y), (z), theta and phi for respective axes and a speed signal (x) from a controller 9 and distributes pulses to drive respective axes. Positioning results are detected by encoders 11c-15c and are fed back to control circuits 11a-15a for axes, and a working tool is stopped in a position where deviation disappears. An operating circuit 16 operates correction quantities for axes (x), (y), and (z) on a basis of signals theta and phi and outputs them to a storing circuit 17. An interpolator 19 reads out contents of a register 18 to output correction quantities successively. These correction quantities are added and synthesized with the command signal from the pulse distributor 10 in correcting circuits 20-22 and are supplied to control circuits 11a-13a.
JP7854180A 1980-06-09 1980-06-09 KOGYOYOROBOTSUTONOSEIGYOSOCHI Expired - Lifetime JPH0230041B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7854180A JPH0230041B2 (en) 1980-06-09 1980-06-09 KOGYOYOROBOTSUTONOSEIGYOSOCHI

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7854180A JPH0230041B2 (en) 1980-06-09 1980-06-09 KOGYOYOROBOTSUTONOSEIGYOSOCHI

Publications (2)

Publication Number Publication Date
JPS573102A true JPS573102A (en) 1982-01-08
JPH0230041B2 JPH0230041B2 (en) 1990-07-04

Family

ID=13664764

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7854180A Expired - Lifetime JPH0230041B2 (en) 1980-06-09 1980-06-09 KOGYOYOROBOTSUTONOSEIGYOSOCHI

Country Status (1)

Country Link
JP (1) JPH0230041B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6020876A (en) * 1983-07-15 1985-02-02 富士通株式会社 Controller for multi-joint type robot
CN111070209A (en) * 2019-12-27 2020-04-28 深圳市越疆科技有限公司 Shaft precision measuring method and device and industrial robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6020876A (en) * 1983-07-15 1985-02-02 富士通株式会社 Controller for multi-joint type robot
CN111070209A (en) * 2019-12-27 2020-04-28 深圳市越疆科技有限公司 Shaft precision measuring method and device and industrial robot
CN111070209B (en) * 2019-12-27 2022-04-15 深圳市越疆科技有限公司 Shaft precision measuring method and device and industrial robot

Also Published As

Publication number Publication date
JPH0230041B2 (en) 1990-07-04

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