ROBOT ARM CONTROL DEVICE

• Main Authors: ONISHI KEN, TOKIOKA ATSUSHI, MAEKAWA AKIHIRO
• Format: Patent
• Language: English
• Published: 13.12.1994
• Edition: 5
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

PURPOSE:To move a tool while pushing it excellently against a plane part or a crest part of a work, and work the work safely and excellently by carrying out operation on an orbit of a finger part having the tool in a robot arm, and constituting so as to restrict it. CONSTITUTION:A target position orbit command is obtained by multiplying a signal of a target position orbit of a subtracter 16 being deviation between a position signal of a position sensor 10 of a robot arm 1 and a target position orbit of an orbit computing element 15 by a position flag value of a position flag unit 18. On the other hand, a target force command is obtained by multiplying a target force signal of a subtracter 20 being deviation between a force signal of a force sensor 11 and target force by a force flag value of a force flag unit 21. Both commands are added together by an adder 23, and respective shaft speed commands of the robot arm 1 are obtained. By the way, as a position of a finger part in the robot arm 1 is dislocated from a target orbit, a position flag value is increased gradually from 0 by an orbit restricting unit 50, and the force flag value is reduced gradually from 1.