JPS575110A - Control system for track of industrial robot or the like - Google Patents

Control system for track of industrial robot or the like

Info

Publication number
JPS575110A
JPS575110A JP7911480A JP7911480A JPS575110A JP S575110 A JPS575110 A JP S575110A JP 7911480 A JP7911480 A JP 7911480A JP 7911480 A JP7911480 A JP 7911480A JP S575110 A JPS575110 A JP S575110A
Authority
JP
Japan
Prior art keywords
axis
movement
deltal
interval
desired values
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
JP7911480A
Other languages
Japanese (ja)
Other versions
JPS6160447B2 (en
Inventor
Mikio Ide
Tadakiyo Morimoto
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP7911480A priority Critical patent/JPS575110A/en
Publication of JPS575110A publication Critical patent/JPS575110A/en
Publication of JPS6160447B2 publication Critical patent/JPS6160447B2/ja
Granted 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34101—Data compression, look ahead segment calculation, max segment lenght
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39002—Move tip of arm on straight line

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical 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 reduce an allowable deviation from an ideal straight line, obtained by interpolation at every movement point to be interpolated, into an allowable range, by providing the allowable deviation and by setting each interpolation interval of interpolating calculation to a value equal to or less than the deviation. CONSTITUTION:In a manipulator on a three-axis spherical system, desired values of each point, to which a movement is made, on the gamma-axis, phi-axis and theta-axis, an interpolating interval DELTAL, control information, etc., are stored in a storage device 12 from a console panel 2. For a movement between two points stored in the device 12 at the interval DELTAL by linear interpolation, desired values on the spherical coordinate system are found by a processor 1. Current values of each position detected by gamma-axis, phi-axis and theta-axis position detectors 5, 8 and 11 are fed back to the processor 1 to output deviations from the desired values to output converters 3, 6 and 9 respectively, and driving shafts 4, 7 and 10 operate independently to attain the desired values. In this case, so that an allowable deviation DELTAl from an ideal linear movement path is greater than or equal to the DELTAL, the interpolating interval is stored in the device 12 at every movement point and the movement track of each driving shaft is controlled. Consequently, a high-precision track control system is obtained.
JP7911480A 1980-06-13 1980-06-13 Control system for track of industrial robot or the like Granted JPS575110A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7911480A JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7911480A JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Publications (2)

Publication Number Publication Date
JPS575110A true JPS575110A (en) 1982-01-11
JPS6160447B2 JPS6160447B2 (en) 1986-12-20

Family

ID=13680878

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7911480A Granted JPS575110A (en) 1980-06-13 1980-06-13 Control system for track of industrial robot or the like

Country Status (1)

Country Link
JP (1) JPS575110A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0732299A1 (en) * 1995-03-13 1996-09-18 MANNESMANN Aktiengesellschaft Jib guidance method for a crane with a rocking jib
CN113093716A (en) * 2019-12-19 2021-07-09 广州极飞科技股份有限公司 Motion trail planning method, device, equipment and storage medium
CN117549316A (en) * 2024-01-12 2024-02-13 唐山先河智能机器有限公司 Multi-axis mechanical arm control method and master-slave control system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03106650U (en) * 1990-02-17 1991-11-05

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0732299A1 (en) * 1995-03-13 1996-09-18 MANNESMANN Aktiengesellschaft Jib guidance method for a crane with a rocking jib
CN113093716A (en) * 2019-12-19 2021-07-09 广州极飞科技股份有限公司 Motion trail planning method, device, equipment and storage medium
CN113093716B (en) * 2019-12-19 2024-04-30 广州极飞科技股份有限公司 Motion trail planning method, device, equipment and storage medium
CN117549316A (en) * 2024-01-12 2024-02-13 唐山先河智能机器有限公司 Multi-axis mechanical arm control method and master-slave control system
CN117549316B (en) * 2024-01-12 2024-03-12 唐山先河智能机器有限公司 Multi-axis mechanical arm control method and master-slave control system

Also Published As

Publication number Publication date
JPS6160447B2 (en) 1986-12-20

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