JPS5595110A - Controller for traveling body - Google Patents
Controller for traveling bodyInfo
- Publication number
- JPS5595110A JPS5595110A JP133579A JP133579A JPS5595110A JP S5595110 A JPS5595110 A JP S5595110A JP 133579 A JP133579 A JP 133579A JP 133579 A JP133579 A JP 133579A JP S5595110 A JPS5595110 A JP S5595110A
- Authority
- JP
- Japan
- Prior art keywords
- collision
- traveling body
- servo system
- point
- signal
- 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
- 238000001514 detection method Methods 0.000 abstract 2
- 230000001133 acceleration Effects 0.000 abstract 1
Classifications
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Abstract
PURPOSE:To reduce damage by releasing a traveling body from a collision state by detecting the collision of the traveling body by a few sensors and then by correcting the set point of a servo system to a position slightly behind the collision detection position. CONSTITUTION:A signal from acceleration sensor 11 fitted on arm 1 of a manipulator is compared by comparator 14 with a reference value without error detection to drive FF15. Error amplifier 23 of the servo system is supplied with a set-point signal after passing through analog switches 21 and 22 and a feedback signal from position detector 26 of manipulator arm 1. Analog switches 34 and 35, controlled by the outputs of comparators 32 and 33 applied with positive and negative fine voltages to judge the sign of the output of error amplifier 23, hold the set point of the servo system at a position slightly behind the collision point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP133579A JPS5595110A (en) | 1979-01-12 | 1979-01-12 | Controller for traveling body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP133579A JPS5595110A (en) | 1979-01-12 | 1979-01-12 | Controller for traveling body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5595110A true JPS5595110A (en) | 1980-07-19 |
Family
ID=11498620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP133579A Pending JPS5595110A (en) | 1979-01-12 | 1979-01-12 | Controller for traveling body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5595110A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5786078U (en) * | 1980-11-12 | 1982-05-27 | ||
| WO2000024053A1 (en) * | 1998-10-19 | 2000-04-27 | Kabushiki Kaisha Yaskawa Denki | Protective device for clean robot |
| WO2011096514A1 (en) * | 2010-02-04 | 2011-08-11 | 小池酸素工業株式会社 | Mobile workbench |
-
1979
- 1979-01-12 JP JP133579A patent/JPS5595110A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5786078U (en) * | 1980-11-12 | 1982-05-27 | ||
| WO2000024053A1 (en) * | 1998-10-19 | 2000-04-27 | Kabushiki Kaisha Yaskawa Denki | Protective device for clean robot |
| US6343242B1 (en) | 1998-10-19 | 2002-01-29 | Kabushiki Kaisha Yaskawa Denki | Protective device for clean robot |
| WO2011096514A1 (en) * | 2010-02-04 | 2011-08-11 | 小池酸素工業株式会社 | Mobile workbench |
| JP2011177789A (en) * | 2010-02-04 | 2011-09-15 | Koike Sanso Kogyo Co Ltd | Workbench |
| CN102596489A (en) * | 2010-02-04 | 2012-07-18 | 小池酸素工业株式会社 | Mobile workbench |
| US9011759B2 (en) | 2010-02-04 | 2015-04-21 | Koike Sanso Kogyo Co., Ltd. | Mobile workbench |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2045438A1 (en) | Control device for robot in inertial coordinate system | |
| JPS5595110A (en) | Controller for traveling body | |
| JPS57166513A (en) | Run guiding device for vehicle | |
| JPS5783327A (en) | Automatic assembling device with sensing bench | |
| JPS6415609A (en) | Detecting apparatus for rotational angle of industrial robot | |
| JPS6456284A (en) | Transposing device for vehicle body | |
| JPS5447274A (en) | Industrial robot | |
| JPS6431208A (en) | Fixed position stop controller for carrier truck | |
| JPS54134887A (en) | Controlling device for profiling | |
| JPS6446808A (en) | Correcting system for position shift of commodity transfer device | |
| JPS5756072A (en) | Coating method by robot | |
| JPS57209124A (en) | Positioning method of bucket wheel in reclaimer | |
| JPH0634950Y2 (en) | Robot controller | |
| JPH0197590A (en) | Detector for quantity of gravity positional displacement of robot | |
| JPS5255164A (en) | Apparatus for grasping nuts or bolts | |
| JPH0261587U (en) | ||
| JPH02296404A (en) | Antenna beam direction controller for artificial satellite | |
| JPS6426212A (en) | Positioning system for moving body by industrial robot | |
| JPS523105A (en) | Apparatus for stopping a linear motor at a predetermined position | |
| JPS5766302A (en) | Device for measuring width of moving metal body | |
| JPS55131453A (en) | Auxiliary position control device | |
| JPS5444181A (en) | System of controlling steering of motormanless travelling car | |
| JPS5745616A (en) | Electromagnet driving controller in magnetic supporting device | |
| JPS51124253A (en) | System for detecting position of movable device | |
| JPS57111122A (en) | Analog-to-digital converter |