JPS5574605A - Operation control system for industrial robbot or the like - Google Patents
Operation control system for industrial robbot or the likeInfo
- Publication number
- JPS5574605A JPS5574605A JP14652278A JP14652278A JPS5574605A JP S5574605 A JPS5574605 A JP S5574605A JP 14652278 A JP14652278 A JP 14652278A JP 14652278 A JP14652278 A JP 14652278A JP S5574605 A JPS5574605 A JP S5574605A
- Authority
- JP
- Japan
- Prior art keywords
- point
- servo
- locus
- acceleration
- occurrence
- 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
Landscapes
- Numerical Control (AREA)
Abstract
PURPOSE: To prevent the occurrence of vibration phenomenon, by deceleration before the sudden curved point for the locus and acceleration after the point.
CONSTITUTION: The centrallized control unit 10 is made of small sized microcomputer, and the position instruction from the unit 10 to the robbot axes is outputed to the servo circuits 12...17 for each axis via the servo interface 11. Further, the position instruction signal from the interface 11 is fed to the register 12, the difference with the present position signal obtained from the θ axis rotary angle detector 122 is obtained with the subtraction circuit 123, the deviation is fed and amplified at the servo amplifier 124, and the control of the servo valve 125 is made in the form of current. Further, before the instruction point specific in which the locus suddenly bends, deceleration is made and after the point, acceleration is made, allowing to prevent the occurrence of the vibrating phenomenon.
COPYRIGHT: (C)1980,JPO&Japio
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14652278A JPS5574605A (en) | 1978-11-29 | 1978-11-29 | Operation control system for industrial robbot or the like |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14652278A JPS5574605A (en) | 1978-11-29 | 1978-11-29 | Operation control system for industrial robbot or the like |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS5574605A true JPS5574605A (en) | 1980-06-05 |
Family
ID=15409545
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14652278A Pending JPS5574605A (en) | 1978-11-29 | 1978-11-29 | Operation control system for industrial robbot or the like |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5574605A (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5858609A (en) * | 1981-10-05 | 1983-04-07 | Hitachi Ltd | Locus interpolating method of industrial robot |
JPS5875215A (en) * | 1981-10-29 | 1983-05-06 | Kobe Steel Ltd | Controlling method of industrial robot |
JPS58149512A (en) * | 1982-02-27 | 1983-09-05 | Fanuc Ltd | Numerical control system |
JPS5936811A (en) * | 1982-08-25 | 1984-02-29 | Hitachi Ltd | Method for interporating route of robot hand |
JPS5962909A (en) * | 1982-10-01 | 1984-04-10 | Fanuc Ltd | Accelerating and decelerating circuit |
JPS6020209A (en) * | 1983-07-14 | 1985-02-01 | Matsushita Electric Ind Co Ltd | Method for interpolating control of robot |
JPS60105012A (en) * | 1983-11-11 | 1985-06-10 | Toyoda Mach Works Ltd | Feed control method for numerically controlled machine tool |
JPS61198306A (en) * | 1985-02-28 | 1986-09-02 | Sanesu Shoko:Kk | Control data formnig method for numerical control |
JPH0561533A (en) * | 1991-09-02 | 1993-03-12 | Mitsubishi Electric Corp | Numerical controller and fuzzy inference device applicable to same |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS507258A (en) * | 1973-05-26 | 1975-01-24 | ||
JPS5325779A (en) * | 1976-08-23 | 1978-03-09 | Hitachi Seiko Ltd | Speed operating method in numeric control unit |
-
1978
- 1978-11-29 JP JP14652278A patent/JPS5574605A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS507258A (en) * | 1973-05-26 | 1975-01-24 | ||
JPS5325779A (en) * | 1976-08-23 | 1978-03-09 | Hitachi Seiko Ltd | Speed operating method in numeric control unit |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5858609A (en) * | 1981-10-05 | 1983-04-07 | Hitachi Ltd | Locus interpolating method of industrial robot |
JPS6351282B2 (en) * | 1981-10-29 | 1988-10-13 | Kobe Steel Ltd | |
JPS5875215A (en) * | 1981-10-29 | 1983-05-06 | Kobe Steel Ltd | Controlling method of industrial robot |
JPS58149512A (en) * | 1982-02-27 | 1983-09-05 | Fanuc Ltd | Numerical control system |
JPS5936811A (en) * | 1982-08-25 | 1984-02-29 | Hitachi Ltd | Method for interporating route of robot hand |
JPH0127443B2 (en) * | 1982-08-25 | 1989-05-29 | Hitachi Ltd | |
WO1984001444A1 (en) * | 1982-10-01 | 1984-04-12 | Fanuc Ltd | Acceleration and deceleration circuit |
JPS5962909A (en) * | 1982-10-01 | 1984-04-10 | Fanuc Ltd | Accelerating and decelerating circuit |
JPH045202B2 (en) * | 1982-10-01 | 1992-01-30 | ||
JPS6020209A (en) * | 1983-07-14 | 1985-02-01 | Matsushita Electric Ind Co Ltd | Method for interpolating control of robot |
JPS60105012A (en) * | 1983-11-11 | 1985-06-10 | Toyoda Mach Works Ltd | Feed control method for numerically controlled machine tool |
JPS61198306A (en) * | 1985-02-28 | 1986-09-02 | Sanesu Shoko:Kk | Control data formnig method for numerical control |
JPH0561533A (en) * | 1991-09-02 | 1993-03-12 | Mitsubishi Electric Corp | Numerical controller and fuzzy inference device applicable to same |
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