JPH0231685U

JPH0231685U -

Info

Publication number: JPH0231685U
Application number: JP11060288U
Authority: JP
Priority date: 1988-08-25
Filing date: 1988-08-25
Publication date: 1990-02-28

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例としての電動式多関
節マニピユレータ制御装置の一関節分を示す制御
ブロツク図、第２図は可変ゲイン回路を示すブロ
ツク図、第３図は可変ゲイン回路の特性を示す特
性図、第４図は従来のマニピユレータ制御装置の
一関節分を示す制御ブロツク図である。図面中、１…偏差増巾器、２…速度制御器、３
…モータ、４…速度検出器、５…減速機、６…位
置検出器、７，８，９，１３…比較器、１０…可
変ゲイン回路、１１，１４…増巾器、１２…リミ
ツタ回路、ＰＰ…位置設定信号、ＰＡ…現在位置
信号、△Ｐ…位置偏差信号、ＶＤ…速度設定信号
、ＶＡ…速度検出信号、△Ｖ…速度偏差信号、Ｖ
Ｄ_ｐ…偏差増巾器１の出力信号、ＶＤ_ａ…可変ゲ
イン回路１０の出力信号、θ…アームの角度（位
置）信号、α…リミツタ回路１２のゲイン。 Fig. 1 is a control block diagram showing one joint of an electric multi-joint manipulator control device as an embodiment of the present invention, Fig. 2 is a block diagram showing a variable gain circuit, and Fig. 3 is a characteristic of the variable gain circuit. FIG. 4 is a control block diagram showing one joint of a conventional manipulator control device. In the drawing, 1...deviation amplifier, 2...speed controller, 3
...Motor, 4...Speed detector, 5...Reducer, 6...Position detector, 7, 8, 9, 13...Comparator, 10...Variable gain circuit, 11, 14...Amplifier, 12...Limiter circuit, PP...position setting signal, PA...current position signal, △P...position deviation signal, VD...speed setting signal, VA...speed detection signal, △V...speed deviation signal, V
_Dp ...output signal of deviation amplifier 1, _VDa ...output signal of variable gain circuit 10, θ...arm angle (position) signal, α...gain of limiter circuit 12.

Claims

[Claims for Utility Model Registration] A motor and decelerator serving as a drive unit, a position detector that detects the current position of the arm and outputs a current position signal, and a speed that detects the motor rotation speed and outputs a speed signal. a detector, a deviation amplifier that amplifies a position deviation signal that is the deviation between the current position signal and the position setting signal and outputs the amplified signal, and a deviation between the output signal of the deviation amplifier and the speed signal. In a manipulator control device having a speed controller that controls the number of rotations of a motor based on a speed deviation signal, a first controller that receives a position deviation signal and amplifies this position deviation signal and has a dead band function.
an amplifier, and a limiter circuit having a gain adjustment function that inputs the output signal of the first amplifier;
A comparator performs a subtraction operation between the output signal of the first amplifier and the output signal of the limiter circuit, and the output signal of this comparator is amplified and the amplified signal is added to the output signal of the deviation amplifier. A manipulator control device characterized by comprising a variable gain circuit comprising a second amplifier that outputs a signal.