JPS57113112A - Control system for robot - Google Patents
Control system for robotInfo
- Publication number
- JPS57113112A JPS57113112A JP18788780A JP18788780A JPS57113112A JP S57113112 A JPS57113112 A JP S57113112A JP 18788780 A JP18788780 A JP 18788780A JP 18788780 A JP18788780 A JP 18788780A JP S57113112 A JPS57113112 A JP S57113112A
- Authority
- JP
- Japan
- Prior art keywords
- counter
- speed
- value
- joint angle
- generation part
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Abstract
PURPOSE:To fine the speed and angular speed of a body to be controlled at each position by the deviation of movement positions at a next target position and the current movement position, by providing a feedback loop which feeds information on the current movement position of the body to be controlled back to a speed generation part. CONSTITUTION:An arithmetic processor 1 outputs a joint angle thetaK+1 at each sampling point to a speed-indication-value generation part 2 on the basis of a transition curve from a starting point X0 to an ending point XN, and when a rotation-speed indication value generated by a current-position value theta'K by an encoder position counter 8 is greater than the counter value of an incorporated counter, pulses from the counter are outputted by a function generation part 3 for the rotation-speed indication value and processed by D/A conversion, thereby outputting the result to a V/F converter 5. Then, a motor driving circuit 7 is controlled by a position control part 10 so that the position deviation of a joint angle thetaK obtained by counting a digital signal from the converter 5 by a comparison-position counter 6 and the joint angle theta'K from the counter 8 is zero.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18788780A JPS57113112A (en) | 1980-12-29 | 1980-12-29 | Control system for robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18788780A JPS57113112A (en) | 1980-12-29 | 1980-12-29 | Control system for robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS57113112A true JPS57113112A (en) | 1982-07-14 |
JPS6246003B2 JPS6246003B2 (en) | 1987-09-30 |
Family
ID=16213925
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18788780A Granted JPS57113112A (en) | 1980-12-29 | 1980-12-29 | Control system for robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS57113112A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58177287A (en) * | 1982-04-05 | 1983-10-17 | 株式会社日立製作所 | Control system of robot |
JPS59124587A (en) * | 1982-12-29 | 1984-07-18 | 富士通株式会社 | Controller for speed of manipulator |
WO2014016991A1 (en) * | 2012-07-24 | 2014-01-30 | 日本電気株式会社 | Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62113701U (en) * | 1986-01-09 | 1987-07-20 | ||
JPH0517921Y2 (en) * | 1987-07-31 | 1993-05-13 | ||
JPH0421282Y2 (en) * | 1987-08-24 | 1992-05-15 |
-
1980
- 1980-12-29 JP JP18788780A patent/JPS57113112A/en active Granted
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58177287A (en) * | 1982-04-05 | 1983-10-17 | 株式会社日立製作所 | Control system of robot |
JPH0413108B2 (en) * | 1982-04-05 | 1992-03-06 | Hitachi Ltd | |
JPS59124587A (en) * | 1982-12-29 | 1984-07-18 | 富士通株式会社 | Controller for speed of manipulator |
JPH0520235B2 (en) * | 1982-12-29 | 1993-03-18 | Fujitsu Ltd | |
WO2014016991A1 (en) * | 2012-07-24 | 2014-01-30 | 日本電気株式会社 | Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein |
US9278766B2 (en) | 2012-07-24 | 2016-03-08 | Nec Corporation | Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein |
JP5910748B2 (en) * | 2012-07-24 | 2016-04-27 | 日本電気株式会社 | Orbit generation apparatus, orbit generation method, and orbit generation program |
Also Published As
Publication number | Publication date |
---|---|
JPS6246003B2 (en) | 1987-09-30 |
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