JPS57139810A - Controlling method of industrial robot and its device - Google Patents
Controlling method of industrial robot and its deviceInfo
- Publication number
- JPS57139810A JPS57139810A JP2457281A JP2457281A JPS57139810A JP S57139810 A JPS57139810 A JP S57139810A JP 2457281 A JP2457281 A JP 2457281A JP 2457281 A JP2457281 A JP 2457281A JP S57139810 A JPS57139810 A JP S57139810A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- operated
- switch
- setting device
- allowable maximum
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
PURPOSE:To obtain an exact moving locus, by forcibly setting a component velocity exceeding an allowable maximum speed extremely, to the allowable maximum speed, in case when the component velocity of every control shaft of a command speed exceeds the allowable maximum speed, and gradually decreasing the component velocity of other control shaft in the forced ratio. CONSTITUTION:A CPU 3 increases or decreases a command value in accordance with the operating direction of an operated manual switch and a speed set by a speed setting device 111. Subsequently, a moving angle of a welding torch which is not shown in the figure is set to a necessary angle by remote control, a position of a welding point is moved to, for instance, Pk-1 on a weld line WL of a work W, the speed setting device 111 is set to a command speed, and after that, when a switch 103 is operated, contents of a beedback counter 39 of each circuit 351 through 355 are inputted to a memory 33 together with a set value of the setting device 111. In the same way, points Pk, Pk+1and Pk+2 are taught. When a switch 101 is set to an automatic mode and the switch 103 is operated, the torch is operated and welds the weld line WL automatically.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2457281A JPS57139810A (en) | 1981-02-20 | 1981-02-20 | Controlling method of industrial robot and its device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2457281A JPS57139810A (en) | 1981-02-20 | 1981-02-20 | Controlling method of industrial robot and its device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS57139810A true JPS57139810A (en) | 1982-08-30 |
JPH0254566B2 JPH0254566B2 (en) | 1990-11-22 |
Family
ID=12141875
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2457281A Granted JPS57139810A (en) | 1981-02-20 | 1981-02-20 | Controlling method of industrial robot and its device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS57139810A (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5927307A (en) * | 1982-08-04 | 1984-02-13 | Hitachi Ltd | Method and device for controlling path |
JPS59163609A (en) * | 1983-03-08 | 1984-09-14 | Hitachi Ltd | Route interpolating method of robot hand |
WO1984004828A1 (en) * | 1983-05-26 | 1984-12-06 | Fanuc Ltd | Method of controlling industrial robot along arc |
JPS60108283A (en) * | 1983-11-15 | 1985-06-13 | 富士通株式会社 | Method of controlling drive of multi-joint type robot |
JPS60167003A (en) * | 1984-02-10 | 1985-08-30 | Amada Co Ltd | Numerical controller provided with speed safety device |
JPS6126107A (en) * | 1984-07-05 | 1986-02-05 | シーメンス、アチエンゲゼルシヤフト | Computer control for multiaxial industrial robot |
JPS61138310A (en) * | 1984-12-07 | 1986-06-25 | Toyoda Mach Works Ltd | Robot controller |
JPS61156309A (en) * | 1984-12-27 | 1986-07-16 | Toshiba Mach Co Ltd | Numerically controlled device containing speed difference smoothing function |
JPS61255409A (en) * | 1985-05-08 | 1986-11-13 | Fuji Electric Co Ltd | Control device for positioning double spindle |
JPS6380303A (en) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | Speed control method for industrial robot |
WO1991003009A1 (en) * | 1989-08-22 | 1991-03-07 | Fanuc Ltd | Acceleration/deceleration control method of numeric controller |
WO1991003778A1 (en) * | 1989-08-29 | 1991-03-21 | Fanuc Ltd | Feed speed control method of numeric controller |
JPH05197419A (en) * | 1990-10-29 | 1993-08-06 | Mitsubishi Electric Corp | Controller for robot |
-
1981
- 1981-02-20 JP JP2457281A patent/JPS57139810A/en active Granted
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH035606B2 (en) * | 1982-08-04 | 1991-01-28 | Hitachi Ltd | |
JPS5927307A (en) * | 1982-08-04 | 1984-02-13 | Hitachi Ltd | Method and device for controlling path |
JPS59163609A (en) * | 1983-03-08 | 1984-09-14 | Hitachi Ltd | Route interpolating method of robot hand |
WO1984004828A1 (en) * | 1983-05-26 | 1984-12-06 | Fanuc Ltd | Method of controlling industrial robot along arc |
JPS60108283A (en) * | 1983-11-15 | 1985-06-13 | 富士通株式会社 | Method of controlling drive of multi-joint type robot |
JPH056686B2 (en) * | 1983-11-15 | 1993-01-27 | Fujitsu Ltd | |
JPS60167003A (en) * | 1984-02-10 | 1985-08-30 | Amada Co Ltd | Numerical controller provided with speed safety device |
JPS6126107A (en) * | 1984-07-05 | 1986-02-05 | シーメンス、アチエンゲゼルシヤフト | Computer control for multiaxial industrial robot |
JPS61138310A (en) * | 1984-12-07 | 1986-06-25 | Toyoda Mach Works Ltd | Robot controller |
JPS61156309A (en) * | 1984-12-27 | 1986-07-16 | Toshiba Mach Co Ltd | Numerically controlled device containing speed difference smoothing function |
JPS61255409A (en) * | 1985-05-08 | 1986-11-13 | Fuji Electric Co Ltd | Control device for positioning double spindle |
JPS6380303A (en) * | 1986-09-25 | 1988-04-11 | Kobe Steel Ltd | Speed control method for industrial robot |
WO1991003009A1 (en) * | 1989-08-22 | 1991-03-07 | Fanuc Ltd | Acceleration/deceleration control method of numeric controller |
WO1991003778A1 (en) * | 1989-08-29 | 1991-03-21 | Fanuc Ltd | Feed speed control method of numeric controller |
JPH05197419A (en) * | 1990-10-29 | 1993-08-06 | Mitsubishi Electric Corp | Controller for robot |
Also Published As
Publication number | Publication date |
---|---|
JPH0254566B2 (en) | 1990-11-22 |
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