ROBOT CONTROLLER AND ITS CONTROL METHOD

PURPOSE: To reduce a tact time by calculating the deviation of the tip of a robot based on the position of each joint and providing the output of a positioning confirmation signal when the calculated deviation is smaller than a prescribed value. CONSTITUTION: A robot has a 1st arm 1, a 2nd arm 2 and...

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Bibliographic Details
Main Author HAYAMIZU KAZUYUKI
Format Patent
LanguageEnglish
Published 10.01.1997
Edition6
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROLLING
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRANSPORTING
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Summary:PURPOSE: To reduce a tact time by calculating the deviation of the tip of a robot based on the position of each joint and providing the output of a positioning confirmation signal when the calculated deviation is smaller than a prescribed value. CONSTITUTION: A robot has a 1st arm 1, a 2nd arm 2 and a robot tip 3. A command sent by a CPU is sent to a servo system interface section via a communication bus in the inside of a robot controller 4. Then internal variables are initialized by initial setting and orbit calculation and the output of operation command are conducted. Then a deviation Δr at the robot tip 3 is calculated based on the deviation of motor shafts of the 1st arm 1 and the 2nd arm 2 through coordinate conversion and when the absolute value of the Δr is smaller than a prescribed setting value, a positioning confirmation signal is outputted. The software processing is reduced by allowing an orbit arithmetic processing section to receive the positioning confirmation signal.
Bibliography:Application Number: JP19950154425