JPS57155607A - Robot controlling system - Google Patents

Robot controlling system

Info

Publication number
JPS57155607A
JPS57155607A JP4089581A JP4089581A JPS57155607A JP S57155607 A JPS57155607 A JP S57155607A JP 4089581 A JP4089581 A JP 4089581A JP 4089581 A JP4089581 A JP 4089581A JP S57155607 A JPS57155607 A JP S57155607A
Authority
JP
Japan
Prior art keywords
pulse
produces
error
register
distribution
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
JP4089581A
Other languages
Japanese (ja)
Inventor
Hajime Inaba
Shinsuke Sakakibara
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 JP4089581A priority Critical patent/JPS57155607A/en
Publication of JPS57155607A publication Critical patent/JPS57155607A/en
Pending legal-status Critical Current

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
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41123—Correction inertia of servo
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41177—Repetitive control, adaptive, previous error during actual positioning
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43069—Measure acceleration, derive limit torque, adapt acceleration
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

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)

Abstract

PURPOSE:To attain swiveling with the maximum allowable speed for a controlling system of an industrial robot which is driven through an operation of pulse distribution based on a teaching command of position, by discontinuting the distribution of pulses when the contents of an error register exceeds the set value. CONSTITUTION:A pulse distributing circuit 101 carries out a known operation of pulse distribution based on a teaching command of position and produces the distribution pulse Ps. A speed regulating circuit 102 produces a pulse train Pi by the pulse Ps to drive a DC motor 103 for drive of the swiveling shaft of a robot. A pulse coder 104 produces the feedback pulse FP and feed the pulse FP back to an error register 105, and the register 105 stores an error Er between the pulses Pi and PF. The contents of the register 105 receives a D/A conversion 106 to be applied to a speed controlling circuit 107. An errormonitor part 108 compares the error Er and the set value Rv and produces the distributing operation stop signal PDS when Er>Rv is satisfied. The value Rv is set so that the swivelling is possible with the prescribed maximum allowable speed to various types of inertia.
JP4089581A 1981-03-20 1981-03-20 Robot controlling system Pending JPS57155607A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4089581A JPS57155607A (en) 1981-03-20 1981-03-20 Robot controlling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4089581A JPS57155607A (en) 1981-03-20 1981-03-20 Robot controlling system

Publications (1)

Publication Number Publication Date
JPS57155607A true JPS57155607A (en) 1982-09-25

Family

ID=12593241

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4089581A Pending JPS57155607A (en) 1981-03-20 1981-03-20 Robot controlling system

Country Status (1)

Country Link
JP (1) JPS57155607A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method
JPS62205404A (en) * 1986-03-06 1987-09-10 Komatsu Ltd Control method for power shovel

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method
WO1985005198A1 (en) * 1984-04-27 1985-11-21 Matsushita Electric Industrial Co., Ltd. Method of controlling multi-joint robot
JPS62205404A (en) * 1986-03-06 1987-09-10 Komatsu Ltd Control method for power shovel

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