JPS5574605A - Operation control system for industrial robbot or the like - Google Patents

Operation control system for industrial robbot or the like

Info

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
Application number
JP14652278A
Other languages
Japanese (ja)
Inventor
Norihisa Miyake
Moritomo Ando
Fusaaki Ozawa
Takashi Furukawa
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.)
Hitachi Ltd
Original Assignee
Hitachi 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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP14652278A priority Critical patent/JPS5574605A/en
Publication of JPS5574605A publication Critical patent/JPS5574605A/en
Pending legal-status Critical Current

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
JP14652278A 1978-11-29 1978-11-29 Operation control system for industrial robbot or the like Pending JPS5574605A (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Similar Documents

Publication Publication Date Title
JPS52121223A (en) Control system for acceleration and deceleration of vehicle
JPS5574605A (en) Operation control system for industrial robbot or the like
JPS52114823A (en) Air fuel ratio controller
JPS57145506A (en) Vehicle control system
JPS55164594A (en) Automatic steering device for vessel
JPS5265351A (en) Control method of interior temperature
JPS5650406A (en) Automatic position control unit
JPS54153463A (en) Method of control for stopping swinging
JPS5422696A (en) Device of detecting trouble of steering gear for shipping
JPS5332289A (en) Speed control system
JPS5234185A (en) Numerical control system
JPS5572269A (en) Operation control system
JPS5211729A (en) Information processing unit
JPS51146692A (en) Feedback control system with proportional
JPS52139327A (en) Access control system
JPS5362288A (en) Speed control system for movable body
JPS55102020A (en) Input protection circuit for vibrating stand control unit
JPS55158866A (en) Mold level control method
JPS554653A (en) 1-loop controller control system
JPS55142231A (en) Rotation controller for vibrating table
JPS5552111A (en) Control unit for vibration stand
JPS5427737A (en) Bus control system
JPS5353839A (en) System for controlling moving body
JPS5297094A (en) Reciprocal truck controller
JPS5553190A (en) Motor-controlling procedure