CN100389938C - Manipulator controller - Google Patents
Manipulator controller Download PDFInfo
- Publication number
- CN100389938C CN100389938C CNB021268649A CN02126864A CN100389938C CN 100389938 C CN100389938 C CN 100389938C CN B021268649 A CNB021268649 A CN B021268649A CN 02126864 A CN02126864 A CN 02126864A CN 100389938 C CN100389938 C CN 100389938C
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- CN
- China
- Prior art keywords
- manipulator
- stop
- servo
- support arm
- control
- 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.)
- Expired - Fee Related
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
The present invention relates to a manipulator controller. This device has a servo system emergency stop control means braking a robot by servo control in an emergency stop request, and a machanical emergency stop means giving a load in a direction obstructing action of the robot, after the robot makes its speed lower down to a safety speed Vs capable of ensuring a necessary braking distance by the servo system emergency stop control means, it is stopped thereafter to make the load act by the machanical emergency stop means, and the robot is made an emergency stop within the necessary braking distance. The objective of the present invention is to surely stop a robot in an emergency without giving an excessive load to the robot.
Description
Technical field
The present invention relates to manipulator controller.In more detail, the present invention relates to as the action of manipulators such as control support arm type, the improvement that stops very much the applied manipulator controller of device that moving of manipulator when especially control requires to stop very much.
Background technology
As the manipulator controller that stops very much at the manipulator that requires to make when stopping very much support arm type etc., used the instantaneous trip primary power source in the past and utilized the brake of the regenerative current that servomotor produces and the device that utilizes mechanical resistance or further utilize mechanical brake to stop.In recent years,, adopt by the SERVO CONTROL manipulator to make its method that stops reposefully also more and more with short time and short braking distance along with the maximization and the high speed of support arm type manipulator again.
SERVO CONTROL in the past for example can be carried out as shown in Figure 8.That is to say, the occasion that stops very much in requirements such as promptly stopping the state of affairs in the action of support arm type manipulator is cut off servo power supply (primary power source) (Fig. 8 (C)) constantly, is utilized residual charge and continue the SERVO CONTROL motor manipulator is braked (Fig. 8 (D)) at this.At this moment, manipulator slows down with certain acceleration, stops (Fig. 8 (A)) then.Meanwhile, stop speed command (Fig. 8 (B)), finish SERVO CONTROL (Fig. 8 (D)), and mechanical brake is worked and keep the halted state (Fig. 8 (E)) of manipulator.
So servo-controlled manipulator controller is in the past carried out in employing, from require to stop very much making brake force to work energetically when stopping to finish, manipulator is stopped at short notice very much shown in Fig. 8 (A).
But, from now on further the propelling machinery hand maximize and the occasion of high speed, exist samely and only utilize SERVO CONTROL to control the problem of manipulator.
That is to say, although when utilizing SERVO CONTROL to brake, manipulator is applied big load, but if to keep maximization, high speed manipulator very dwell time or make it become shorter, then correspondingly need to prolong the SERVO CONTROL time or increase brake force, can give excessive load and impact, bring destruction according to circumstances often for the manipulator body.Therefore, for maximize, the manipulator of high speed, carrying out in the past SERVO CONTROL, to shorten deceleration time be limited.In addition, also exist in servo-drive system the problem that the occasion of cutting off primary current can not be controlled so longways.
In addition,, can not be enough to reach the servo dangerous problem that increases that stops to make, not be difficult at present so do not carry out SERVO CONTROL fully owing to needing long braking time to produce if entirely do not carry out SERVO CONTROL in contrast to this.
Therefore, the objective of the invention is to, the manipulator controller that can not apply excessive load to manipulator and stop very much reliably is provided.
Summary of the invention
Present inventors have carried out various research, its result, finally recognize maximize, in the manipulator of high speed, in the time of relaxing SERVO CONTROL to the load of manipulator, impact, and can reach the control device of the opposite problem of guaranteeing to stop very much essential brake force simultaneously.
The present invention makes according to such opinion, technical scheme 1 described invention is, in the method for controlling robot of control manipulator, has the very unusual arresting stop of stop control and mechanical system from load to the direction that hinders manipulator behavior that apply of the servo-drive system of when requiring to stop very much, braking by the SERVO CONTROL manipulator, make after utilizing servo-drive system very stop control is reduced to the safety speed that can guarantee necessary braking distance with manipulator, make this servo-drive system very stop control stop, utilizing then mechanical system very arresting stop make the load effect and manipulator stopped in necessary braking distance very much.
In this method for controlling robot, when requiring to stop very much, shown in Fig. 1 (C), cut off the servo power supply (primary power source) of servomotor simultaneously with unusual stop signal, utilize residual charge that manipulator is carried out SERVO CONTROL then and apply braking (Fig. 1 (D)).At this moment, manipulator is subjected to certain brake load and slow down (Fig. 1 (A)).
But, reach the moment of safety speed Vs in the speed of manipulator, make above SERVO CONTROL (Fig. 1 (A)) finish, remove speed command and stop (Fig. 1 (B)) handled in the positive braking of manipulator, corresponding making utilized the very mechanical brake of arresting stop work (Fig. 1 (E)) of mechanical system.Here, so-called safety speed Vs, even refer to this SERVO CONTROL in moment only finish also with later mechanical system very the load that produces of arresting stop and acting on make speed in the scope that manipulator stops in the necessary braking distance.Again, so-called mechanical system is arresting stop very, any of the brake of the regenerative current that electromagnetic brake that is mechanical resistance, is made of coil and solenoid and the servomotor that utilizes the driving device hand produce or their combination also can comprise the viscous drag of frictional resistance between part, lubricant etc. etc.
After SERVO CONTROL finishes, the brake body of manipulator by servo-drive system very stop control replace the very deceleration of the part of arresting stop mitigations that become of mechanical system, only be subjected to the mechanical brake effect then and with constant ratio deceleration (Fig. 1 (A)).Its result, the original speed command finish time (Fig. 1 (B)) manipulator also do not stop,, take place to be in the necessary braking distance up to the time that also needing to stop Ts (Fig. 1 (A), (B)) from this from promptly stopping the state of affairs to stopping required braking distance fully.And the deceleration curve that is produced by manipulator controller is level and smooth shown in Fig. 1 (A), and since the speed of manipulator when stopping to relax than conventional art, so manipulator slows down reposefully and stops.After stopping, because the effect of mechanical brake, manipulator is held in stop position (Fig. 1 (E)).
As mentioned above, adopt the occasion of method for controlling robot of the present invention, though make and utilize servo-controlled braking from the moment of stop signal takes place very, but finish SERVO CONTROL in the moment that is reduced to safety speed Vs, manipulator does not proceed to fully and stops, and shortens so carry out the servo-controlled time.Therefore, can not apply excessive load and impact to manipulator, and owing to the SERVO CONTROL time also shortens, so can guarantee the security in manipulator behavior.
Again, utilize the control of manipulator controller, even when primary power source cuts off, also can similarly carry out.
Description of drawings
Fig. 1 is the figure of an example of expression manipulator controller of the present invention, and (A) expression actual speed, (B) are that speed command, (C) are the timing of each action of mechanical brake (mechanical system is arresting stop very) for SERVO CONTROL scope, (E) for servo power supply, (D).
Fig. 2 is the central longitudinal cutaway view that expression can be used an example of support arm type manipulator of the present invention.
Fig. 3 is the stereogram of expression support arm type manipulator.
Fig. 4 is the timing belt pulley of expression the 1st support arm and the side view of synchronous belt.
Fig. 5 is the detailed central longitudinal cutaway view of the joint portion of the pedestal of expression support arm type manipulator and the 1st support arm.
Fig. 6 is the detailed central longitudinal cutaway view of the joint portion of the 1st support arm of expression support arm type manipulator and the 2nd support arm.
Fig. 7 is the figure of the relation of belt width and tension force in the synchronous belt of expression the 1st support arm.
Fig. 8 is the figure that represents an example of the control action that utilizes manipulator controller in the past, and (A) expression actual speed, (B) are that speed command, (C) are the timing of mechanical brake (mechanical system is arresting stop very) for servo power supply, (D) for SERVO CONTROL scope, (E).
The specific embodiment
Below, the example shown in describes an example of the present invention in detail with reference to the accompanying drawings.
Fig. 2-Fig. 6 represents to use the support arm type manipulator 1 of manipulator of the present invention.This support arm type manipulator 1 is, utilizes joint portion 2,3,4 to connect and a plurality ofly connects into rotatable support arm 5,6 and transmit the revolving force that is produced by the motor 7 as rotary driving source and carry out required action to support arm 5,6.In this example, this support arm type manipulator 1 is made the multi-joint manipulator that large-scale workpiece 8 such as for example making semi-conductive pole plate moves between the processing unit (plant) of box and band film device etc.
This support arm type manipulator 1 has and is interconnected into rotatable pedestal 9 and the 1st support arm the 5, the 2nd support arm 6, hand 10 as shown in Figures 2 and 3.And this support arm type manipulator 1 makes the structure that the hand 10 that makes mounting workpiece 8 all the time moves on straight line towards certain orientation.
The 1st support arm 5 and the 2nd support arm 6 are equal length, are provided with timing belt pulley 11,12,13,14 at both ends separately.The base side belt pulley 11 of the 1st support arm 5 made 2: 1 with the ratio of the diameter (number of teeth) of hand side belt pulley 12.And (ratio of the number of teeth made 1: 2 the base side belt pulley 13 of the 2nd support arm 6 with the diameter of hand side belt pulley 14.
As Fig. 2 and shown in Figure 4, hanging to belt tension 2 synchronous belts 15,16 between 2 timing belt pulleys 11,12 of the 1st support arm 5, these 2 synchronous belts 15,16 are nibbled to be incorporated in axially with the shared tooth portion (not shown) above them of being formed in order to be rotatably connected 2 timing belt pulleys 11,12 and are hung abreast.Therefore, owing to can make the belt width stenosis of each synchronous belt 15,16, even, also can make the tension distribution homogenising of the width of synchronous belt 15,16 as illustrated in fig. 7 so timing belt pulley 11,12 is inclined to central shaft 11a, 12a when for example making upside than the state of parallel time expansion as shown in Figure 4.
Again, 2 synchronous belts the 15, the 16th make the form that 1 synchronous belt is split to form vertically.Therefore, to make identical strap length and have shape, size and pitch be identical tooth portion to 2 synchronous belts 15,16.Again, these 2 synchronous belts 15,16 make before cutting apart identical tooth are hung on the timing belt pulley 11,12 with staggering.Thus, 2 synchronous belts 15,16 can make the pitch that makes tooth portion and be hung on structure on 2 timing belt pulleys 11,12 with staggering.
As shown in Figure 5,, utilize connecting cylinder 17 that the base side belt pulley 11 of the 1st support arm 5 is fixed on the pedestal 9 at joint portion 2 places of pedestal 9 and the 1st support arm 5 again.In the inside of this connecting cylinder 17 driving shaft 18 that is fixed on the 1st support arm 5 is being set rotatably again.And the 1st support arm 5 can be rotated to support on the pedestal 9.Driving shaft 18 by timing belt pulley 19,20 with synchronous belt 21 and be connected with motor 7 in the interior plant pedestal 9.Therefore, utilize the driving of motor 7, make driving shaft 18 rotations, and the 1st support arm 5 relative pedestals 9 are rotated.
Again, as shown in Figure 6, at joint portion 3 places of the 1st support arm 5 and the 2nd support arm 6, the hand side belt pulley 12 of the 1st support arm 5 utilizes connecting cylinder 22 and the 2nd support arm 6 being permanently connected.Again, the 1st support arm 5 utilizes the base side belt pulley 13 of connecting axle 23 and the 2nd support arm 6 being permanently connected.And, rotatably holding connecting axle 23 in the inside of connecting cylinder 22.Therefore, when the hand side belt pulley 12 of the 1st support arm 5 rotated, the 2nd support arm 6 relative the 1st support arms 5 were rotated.
Here, because the base side belt pulley 11 of the 1st support arm 5 is 2: 1 with the ratio of the diameter (number of teeth) of hand side belt pulley 12, and the base side belt pulley 13 of the 2nd support arm 6 is 1: 2 with the ratio of the diameter (gear) of hand side belt pulley 14, so the base side belt pulley 11 of the 1st support arm 5 and hand side belt pulley 12 (that is the base side belt pulley 13 of the 2nd support arm 6) become 1: 2: 1 with the anglec of rotation ratio of the hand side belt pulley 14 of the 2nd support arm 6.
As shown in Figure 2, on the base side belt pulley 13 of the 2nd support arm 6 and hand side belt pulley 14, be linked with synchronous belt 24 again.Again, installation sets about 10 on the hand side belt pulley 14 of the 2nd support arm 6.The structure of hand 10 is restriction especially not, for example can make the hand of the energy holding workpieces 8 with 2 parallel supporting frame 10a.
This support arm type manipulator 1 is by pedestal 9 liftables and be arranged on rotatably on the manipulator body 25 and be supported.Thus, utilize bending and stretching of support arm 5,6 can make hand 10 carry out straight-line height and direction change.
Again, the support arm type manipulator 1 of this example, have manipulator controller, it comprises by when requiring to stop very much support arm etc. being carried out the very unusual arresting stop of stop control and mechanical system from load to the direction that hinders 1 action of support arm type manipulator that apply of servo-drive system that SERVO CONTROL brakes.Again, be provided with in the lump to servo-drive system very stop control carry out servo-controlled control device and to mechanical system very all or part of of arresting stop drive the other control systems of control.Occasion at this example, though motor 7 plays the very function of stop control of servo-drive system, but also can for example the servomotor beyond this motor 7 be configured in the arm drive system individually, play the very function of stop control of servo-drive system.
Though mechanical system very arresting stop does not especially at length illustrate, but, be the mechanical resistance in the arm drive system, the electromagnetic brake that constitutes by coil and solenoid and the regenerative current generation that utilizes the servomotor (motor 7) that support arm type manipulator 1 is driven brake in the combination of any or they.The viscous drag etc. that also can contain very much again, frictional resistance between part, lubricant etc. in this mechanical system in the arresting stop.
As mentioned above, manipulator controller in this example can constitute with the control device of known parts such as servomotor and electromagnetic brake with the action of these parts of control, but at least in requiring to stop very much, constitute and make when SERVO CONTROL the load that can apply to support arm type manipulator 1, impact the control that is relaxed and in necessary braking distance, can stop very much.
Now the action specification to above-mentioned support arm type manipulator 1 is as follows. Support arm 5,6 is bent and stretched and making hand 10 when pedestal 9 moves, the 1st support arm 5 relative pedestals 9 are being rotated by drive motor 7.And, because the 1st support arm 5 relative pedestals 9 and base side belt pulley 11 be rotated, so hand side belt pulley 12 relative the 1st support arms 5 are rotated.Utilize the rotation of these hand side belt pulley 12 relative the 1st support arms 5 and the 2nd support arm 6 relative the 1st support arms 5 are rotated, and base side belt pulley 13 relative the 2nd support arms 6 are rotated.Be rotated by base side belt pulley 13 relative the 2nd support arms 6, thereby make 14 relative the 2nd support arm 6 rotations of hand side belt pulley and make hand 10 rotations.
And, because the 1st support arm 5 and the 2nd support arm 6 are equal length, and the base side belt pulley 11 of the 1st support arm 5 and hand side belt pulley 12 are (promptly, the base side belt pulley 13 of the 2nd support arm 6) anglec of rotation ratio with the hand side belt pulley 14 of the 2nd support arm 6 is 1: 2: 1, so by making 5 rotations of the 1st support arm, the angle of the 1st support arm 5 and the 2nd support arm 6 changes, and hand 10 direction on the straight line that the center was connected of the center of the base side belt pulley 11 of the 1st support arm 5 and the hand side belt pulley 14 of the 2nd support arm 6 is moved definitely.
Here, owing in this example, use large-scale pole plate, do the support arm 5,6 and the hand 10 of support arm type manipulator not only long but also big as workpiece 8.Therefore, applying downwards big torque, as shown in Figure 4, making the upside of each central shaft 11a, 12a of each timing belt pulley 11,12 of the 15th often be extended to heeling condition when parallel at the front end of the 1st support arm 6.And, because the growing up of support arm 5,6 and hand 10 makes the inertia force of the resistance of the bearing of each joint portion 2,3,4 etc. and support arm 5,6 etc. become big, so just change is greatly for the power of the support arm 5,6 that is used to drive.
In this support arm type manipulator 1 because 2 synchronous belts 15,16 are hung on the timing belt pulley 11,12 vertically abreast, so compare with the support arm type manipulator of the conventional art of using 1 synchronous belt, the belt width stenosis of each synchronous belt 15,16 can be made, the tension distribution homogenising of the width of the belt when timing belt pulley 11,12 tilts can be made as shown in Figure 7.
Again, because 2 synchronous belts 15,16 are identical strap length, and to have shape be that identical tooth portion and envoy's distance stagger with size and pitch, can absorb the backlash in each timing belt pulley 11,12 so the pitch error of the tooth portion of each synchronous belt 15,16 is offseted.
Again, above-mentioned example is an example of the preferable enforcement of the present invention, but is not limited thereto, as long as can do various distortion in not breaking away from ancestor's scope of the present invention.For example, though in this example, the multi-joint manipulator that large-scale workpiece 8 such as semi-conductive pole plate are moved is described, and expression is applied to form in this manipulator with this manipulator controller, but manipulator controller of the present invention is to make the manipulator of big weight with high-speed mobile, so also can be applied in the manipulator any in servo-controlled manipulator.
As seen from the above description, if adopt technical scheme 1 described manipulator controller, can guarantee to make the manipulator of maximization, high speed to stop very much the brake force of usefulness, and can by make servo-controlled braking time become extremely short and assuagement to the load of manipulator, impact and solve opposite problem simultaneously.And, because by SERVO CONTROL, make manipulator speed be decreased to safety speed Vs at least and can guarantee essential braking distance, so the security of the manipulator can guarantee that requirement stops very much the time.
Again, because the deceleration curve that is produced by manipulator controller becomes smoothly, and the speed of manipulator when stopping to relax than conventional art, so manipulator can slow down evenly, stop.
Again, owing to having eliminated brake with suitable torque and be installed in whole axle and go up such drawback, for example eliminated because of generation and clamped the drawback that stuck motionless danger needs transformation etc. after stopping, so do not need to be applied to carry out cheaply in the past in the equipment of hardware modification simply.
Again, if adopt technical scheme 2 described manipulator controllers, owing to the combination of any or they in the brake of the regenerative current of electromagnetic brake that can constitute with mechanical resistance, by coil and solenoid and the servomotor that utilizes the driving device hand constitutes very arresting stop of mechanical system, so very easy.
Claims (3)
1. method for controlling robot, it is characterized in that, has the very unusual arresting stop of stop control and mechanical system from load to the direction of the action that hinders above-mentioned manipulator that apply of the servo-drive system of when requiring to stop very much, braking by the above-mentioned manipulator of SERVO CONTROL, after utilizing above-mentioned servo-drive system very stop control make above-mentioned manipulator be reduced to the safety speed that can guarantee necessary braking distance, with this servo-drive system very stop control stop, utilizing then above-mentioned mechanical system very arresting stop produce load and above-mentioned manipulator stopped in necessary braking distance very much.
2. method for controlling robot as claimed in claim 1, it is characterized in that, described servo-drive system very arresting stop when requiring to stop very much, cut off the servo power supply of servomotor simultaneously with unusual stop signal, utilize residual charge that manipulator is carried out SERVO CONTROL and applies braking then, to make it to decelerate to described safety speed, and in the moment that reaches safety speed, above SERVO CONTROL is finished, utilize described mechanical system control device that described load is played a role simultaneously, so that described manipulator stops in necessary braking distance very much.
3. method for controlling robot as claimed in claim 1, it is characterized in that, above-mentioned mechanical system very arresting stop be mechanical resistance, the electromagnetic brake that constitutes by coil and solenoid, the combination of any or they of brake of regenerative current that utilizes the servomotor that drives above-mentioned manipulator.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001215321A JP2003025271A (en) | 2001-07-16 | 2001-07-16 | Robot control device |
| JP2001215321 | 2001-07-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1397412A CN1397412A (en) | 2003-02-19 |
| CN100389938C true CN100389938C (en) | 2008-05-28 |
Family
ID=19049984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021268649A Expired - Fee Related CN100389938C (en) | 2001-07-16 | 2002-07-16 | Manipulator controller |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2003025271A (en) |
| KR (1) | KR100499717B1 (en) |
| CN (1) | CN100389938C (en) |
| TW (1) | TW559586B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1800809A1 (en) * | 2005-12-19 | 2007-06-27 | ABB Technology AG | Braking device for a robot actuator and method for monitoring the state of a brake |
| JP5280132B2 (en) * | 2008-08-26 | 2013-09-04 | 日本電産サンキョー株式会社 | Industrial robot |
| KR101457642B1 (en) * | 2010-11-01 | 2014-11-06 | 현대중공업 주식회사 | Emergency stop method of industrial robot |
| KR101868849B1 (en) * | 2011-11-21 | 2018-06-20 | 엘지디스플레이 주식회사 | Apparatus for Transferring Substrate and Method for Controlling the same |
| KR101362230B1 (en) * | 2012-03-27 | 2014-02-13 | 현대로템 주식회사 | Robot Detecting Mine |
| DE102015001203A1 (en) * | 2015-01-30 | 2016-08-04 | Kuka Roboter Gmbh | Method and system for operating and / or monitoring a multi-axis machine |
| JP6226914B2 (en) | 2015-06-12 | 2017-11-08 | ファナック株式会社 | Servo motor stop control device that controls and stops the servo motor during an emergency stop |
| JP6661910B2 (en) * | 2015-07-27 | 2020-03-11 | セイコーエプソン株式会社 | Control method |
| JP6145153B2 (en) * | 2015-11-30 | 2017-06-07 | ファナック株式会社 | Robot controller that records the occurrence of emergency stop of robot |
| DE102016005366B4 (en) * | 2016-04-25 | 2022-05-25 | Franka Emika Gmbh | Robot with a controller protected in the event of a power failure |
| JP6786291B2 (en) * | 2016-07-28 | 2020-11-18 | 日本電産サンキョー株式会社 | Industrial robot |
| JP6923581B2 (en) | 2019-03-07 | 2021-08-18 | ファナック株式会社 | Control system for industrial robots |
| JP7335103B2 (en) * | 2019-07-09 | 2023-08-29 | ニデックインスツルメンツ株式会社 | INDUSTRIAL ROBOT AND CONTROL METHOD FOR INDUSTRIAL ROBOT |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6416396A (en) * | 1987-07-10 | 1989-01-19 | Fujitsu Ltd | Method of controlling acceleration at time of emergency stoppage |
| US5552687A (en) * | 1993-10-29 | 1996-09-03 | Fanuc, Ltd. | Emergency robot shutdown circuit |
| JPH0911181A (en) * | 1995-06-26 | 1997-01-14 | Kobe Steel Ltd | Emergency stop method of robot |
| JPH11179691A (en) * | 1997-12-19 | 1999-07-06 | Mitsubishi Electric Corp | Control device for robot |
| JP2001088080A (en) * | 1999-09-16 | 2001-04-03 | Denso Corp | Mobile robot system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0116396Y2 (en) * | 1980-11-25 | 1989-05-15 | ||
| JPS61177504A (en) * | 1985-02-01 | 1986-08-09 | Hitachi Ltd | Emergency stop device |
| JPS62172581U (en) * | 1986-04-22 | 1987-11-02 | ||
| JPS6487174A (en) * | 1987-09-22 | 1989-03-31 | Fanuc Ltd | Controller for industrial robot |
| JPH02284899A (en) * | 1989-04-25 | 1990-11-22 | Citizen Watch Co Ltd | Control method for robot and control device thereof |
| JPH0449881A (en) * | 1990-06-14 | 1992-02-19 | Shibaura Eng Works Co Ltd | Servo-motor emergency stop device |
| US5327055A (en) * | 1993-03-08 | 1994-07-05 | International Business Machines Corporation | Mechanical brake hold circuit for an electric motor |
-
2001
- 2001-07-16 JP JP2001215321A patent/JP2003025271A/en active Pending
-
2002
- 2002-07-15 TW TW091115675A patent/TW559586B/en not_active IP Right Cessation
- 2002-07-15 KR KR10-2002-0041095A patent/KR100499717B1/en active IP Right Grant
- 2002-07-16 CN CNB021268649A patent/CN100389938C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6416396A (en) * | 1987-07-10 | 1989-01-19 | Fujitsu Ltd | Method of controlling acceleration at time of emergency stoppage |
| US5552687A (en) * | 1993-10-29 | 1996-09-03 | Fanuc, Ltd. | Emergency robot shutdown circuit |
| JPH0911181A (en) * | 1995-06-26 | 1997-01-14 | Kobe Steel Ltd | Emergency stop method of robot |
| JPH11179691A (en) * | 1997-12-19 | 1999-07-06 | Mitsubishi Electric Corp | Control device for robot |
| JP2001088080A (en) * | 1999-09-16 | 2001-04-03 | Denso Corp | Mobile robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| TW559586B (en) | 2003-11-01 |
| CN1397412A (en) | 2003-02-19 |
| JP2003025271A (en) | 2003-01-29 |
| KR20030007182A (en) | 2003-01-23 |
| KR100499717B1 (en) | 2005-07-07 |
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