JPH029905U - - Google Patents
Info
- Publication number
- JPH029905U JPH029905U JP8506088U JP8506088U JPH029905U JP H029905 U JPH029905 U JP H029905U JP 8506088 U JP8506088 U JP 8506088U JP 8506088 U JP8506088 U JP 8506088U JP H029905 U JPH029905 U JP H029905U
- Authority
- JP
- Japan
- Prior art keywords
- set value
- signal
- value signal
- position set
- differentiator
- 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.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Description
第１図は本考案を適用した電動式多関節マニピ
ユレータの制御装置の一実施例として１関節分を
示すブロツク図、第２図は補正器のブロツク図、
第３図は動作説明図、第４図は従来例を示すブロ
ツク図である。
図面中、１は偏差増幅器、２は速度制御器、３
はモータ、４は減速機、５は速度検出器、６は位
置検出器、７は補正器、８〜１０は比較器、１１
は微分器、１２はゲイン調整器、ＰＤは位置設定
値信号、ＰＡは現在位置信号、ΔＰは位置偏差信
号、ＶＤは速度設定値信号、ＶＡは現在速度信号
、ΔＶは速度偏差信号、θはアームの現在位置（
角度）、ＰＣは補正器の出力信号、ＰＳは新しい
位置設定信号である。
FIG. 1 is a block diagram showing one joint as an example of a control device for an electric multi-joint manipulator to which the present invention is applied; FIG. 2 is a block diagram of a corrector;
FIG. 3 is an explanatory diagram of the operation, and FIG. 4 is a block diagram showing a conventional example. In the drawing, 1 is a deviation amplifier, 2 is a speed controller, and 3 is a deviation amplifier.
is a motor, 4 is a speed reducer, 5 is a speed detector, 6 is a position detector, 7 is a corrector, 8 to 10 are comparators, 11
is a differentiator, 12 is a gain adjuster, PD is a position set value signal, PA is a current position signal, ΔP is a position deviation signal, VD is a speed set value signal, VA is a current speed signal, ΔV is a speed deviation signal, and θ is a Current position of the arm (
angle), PC is the output signal of the corrector, and PS is the new position setting signal.
Claims (1)
器の出力信号を入力信号とするゲイン調整器と、
前記位置設定値信号にゲイン調整器の出力信号を
加算し新たな位置設定値信号として出力する回路
とを備えることを特徴とするマニピユレータの設
定値信号補正回路。 a differentiator that differentiates the position set value signal; a gain adjuster that uses the output signal of the differentiator as an input signal;
A set value signal correction circuit for a manipulator, comprising a circuit that adds an output signal of a gain adjuster to the position set value signal and outputs the result as a new position set value signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8506088U JPH029905U (en) | 1988-06-29 | 1988-06-29 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8506088U JPH029905U (en) | 1988-06-29 | 1988-06-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH029905U true JPH029905U (en) | 1990-01-23 |
Family
ID=31309733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8506088U Pending JPH029905U (en) | 1988-06-29 | 1988-06-29 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH029905U (en) |
-
1988
- 1988-06-29 JP JP8506088U patent/JPH029905U/ja active Pending
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