JPS57120119A - Robot controlling system - Google Patents

Robot controlling system

Info

Publication number
JPS57120119A
JPS57120119A JP529881A JP529881A JPS57120119A JP S57120119 A JPS57120119 A JP S57120119A JP 529881 A JP529881 A JP 529881A JP 529881 A JP529881 A JP 529881A JP S57120119 A JPS57120119 A JP S57120119A
Authority
JP
Japan
Prior art keywords
wrist
comparator
plus
robot
present position
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
JP529881A
Other languages
Japanese (ja)
Inventor
Hajime Inaba
Shinsuke Sakakibara
Akira Nihei
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
Fujitsu Fanuc 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 Fanuc Corp, Fujitsu Fanuc Ltd filed Critical Fanuc Corp
Priority to JP529881A priority Critical patent/JPS57120119A/en
Publication of JPS57120119A publication Critical patent/JPS57120119A/en
Pending legal-status Critical Current

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  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To increase the range of application for a robot, by securing the free and highly accurate positioning and stopage of a mobile part like a wrist, etc. at an optional indicated position regardless of the fluid drive using pneumatic pressure, hydraulic pressure, etc. CONSTITUTION:A sensor part 101 comprising magnetic sensors 8a and 8b of a wrist plus an approximate switch 12 produces pulse signals Pa, and Pb plus a home position signal HPP in accordance with the rotation of a motor 1. A robot controller 102 includes receivers 103a-103c, a pulse processing circuit 104, a present position counter 105, a gate circuit 106, a teaching data memory 107 and a comparator 108. The comparator 108 compares a command position alphac read out of a memory 107 with the present position alphaa of a wrist and delivers control signals CWV, CCWV, DEV and BRK to control solenoid valves 21-41 and a brake 61 according to the difference alphae.
JP529881A 1981-01-17 1981-01-17 Robot controlling system Pending JPS57120119A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP529881A JPS57120119A (en) 1981-01-17 1981-01-17 Robot controlling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP529881A JPS57120119A (en) 1981-01-17 1981-01-17 Robot controlling system

Publications (1)

Publication Number Publication Date
JPS57120119A true JPS57120119A (en) 1982-07-27

Family

ID=11607334

Family Applications (1)

Application Number Title Priority Date Filing Date
JP529881A Pending JPS57120119A (en) 1981-01-17 1981-01-17 Robot controlling system

Country Status (1)

Country Link
JP (1) JPS57120119A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6048277A (en) * 1983-08-29 1985-03-15 株式会社ダイフク Control system of pneumatic pressure actuating robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6048277A (en) * 1983-08-29 1985-03-15 株式会社ダイフク Control system of pneumatic pressure actuating robot

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