JPS57211605A - Controlling system for track of robot - Google Patents

Controlling system for track of robot

Info

Publication number
JPS57211605A
JPS57211605A JP9617681A JP9617681A JPS57211605A JP S57211605 A JPS57211605 A JP S57211605A JP 9617681 A JP9617681 A JP 9617681A JP 9617681 A JP9617681 A JP 9617681A JP S57211605 A JPS57211605 A JP S57211605A
Authority
JP
Japan
Prior art keywords
parameter
circuit
linear
circular motion
robot
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
JP9617681A
Other languages
Japanese (ja)
Inventor
Susumu Kawakami
Takashi Uchiyama
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.)
Fujitsu Ltd
Original Assignee
Fujitsu 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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP9617681A priority Critical patent/JPS57211605A/en
Publication of JPS57211605A publication Critical patent/JPS57211605A/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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical 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 move circularly a material to be controlled smoothly near a designated point of the three-dimensional space, by moving this material on an inscribed circle determined by a designate route position and an error quantity of passage near this position within the maximum angular velocity. CONSTITUTION:When a start signal is inputted to an address counter 1, the first parameter stored in each address of a memory 2 is transferred to a coordinate converting circuit 3. The second parameter required for linear and circular motions is obtained in the circuit 3 by the operation based on the first parameter. The second parameter is inputted to linear and circular motion track output circuits 4 and 5, and circuits 4 and 5 determine a linear movement length, a three- dimensional space movement position, a movement displacement angle, and a three-dimentional space movement angle on a basis of the parameter and send these data to a robot servo driving circuit 6. The switching between the linear motion and the circular motion is determined by a state deciding circuit 7. In case of the circular motion, an error of nearby passage or a circular motion velocity is so corrected by the circuit 3 that the robot is moved on an inscribed circle within a set maximum angular velocity.
JP9617681A 1981-06-22 1981-06-22 Controlling system for track of robot Pending JPS57211605A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9617681A JPS57211605A (en) 1981-06-22 1981-06-22 Controlling system for track of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9617681A JPS57211605A (en) 1981-06-22 1981-06-22 Controlling system for track of robot

Publications (1)

Publication Number Publication Date
JPS57211605A true JPS57211605A (en) 1982-12-25

Family

ID=14158011

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9617681A Pending JPS57211605A (en) 1981-06-22 1981-06-22 Controlling system for track of robot

Country Status (1)

Country Link
JP (1) JPS57211605A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6043707A (en) * 1983-08-19 1985-03-08 Hitachi Ltd Controller for industrial robot
JPS60189012A (en) * 1984-03-07 1985-09-26 Hitachi Ltd Track control method of robot
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method
JPS61292705A (en) * 1985-06-20 1986-12-23 Fanuc Ltd Rounding method
KR100573462B1 (en) * 1998-12-31 2007-11-12 주식회사 로보테크 Method for controlling movement of an industrial robot
CN105082156A (en) * 2015-08-12 2015-11-25 珞石（北京）科技有限公司 Space trajectory smoothing method based on speed optimum control

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5014492A (en) * 1973-05-03 1975-02-15
JPS5014992A (en) * 1973-05-07 1975-02-17
JPS5246357A (en) * 1975-10-13 1977-04-13 Nippon Kokan Kk Method to control mill table for reverse roll mill
JPS5433984A (en) * 1977-08-18 1979-03-13 Toshiba Corp Speed control method of drawing device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5014492A (en) * 1973-05-03 1975-02-15
JPS5014992A (en) * 1973-05-07 1975-02-17
JPS5246357A (en) * 1975-10-13 1977-04-13 Nippon Kokan Kk Method to control mill table for reverse roll mill
JPS5433984A (en) * 1977-08-18 1979-03-13 Toshiba Corp Speed control method of drawing device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6043707A (en) * 1983-08-19 1985-03-08 Hitachi Ltd Controller for industrial robot
JPS60189012A (en) * 1984-03-07 1985-09-26 Hitachi Ltd Track control method of robot
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method
JPS61292705A (en) * 1985-06-20 1986-12-23 Fanuc Ltd Rounding method
KR100573462B1 (en) * 1998-12-31 2007-11-12 주식회사 로보테크 Method for controlling movement of an industrial robot
CN105082156A (en) * 2015-08-12 2015-11-25 珞石（北京）科技有限公司 Space trajectory smoothing method based on speed optimum control

Similar Documents

Publication Publication Date Title
US3943343A (en) Program control system for manipulator
US4706204A (en) Controller for movable robot for moving a work element through a continuous path
US3543947A (en) Constant-aim work head
GB1525839A (en) Apparatus for controlling movements of a machine element relative to a workpiece
Miyazaki et al. Sensory feedback based on the artificial potential for robot manipulators
US4507738A (en) Numerical control method
JPH035606B2 (en)
US3609322A (en) Digital tracer control
KR910017725A (en) Servo Motor Control Device
KR830008227A (en) Numerical Control Method
US4549271A (en) Measurement method by numerical control device
JPS57211605A (en) Controlling system for track of robot
US3711717A (en) Optical line follower
GB1404390A (en) Method and apparatus for machine control
US4381608A (en) Method for interpolating between cartesian and rotary coordinates in machines
EP0227304A2 (en) Method of controlling a robot
JPS57111609A (en) Track control system for robot
JPS6484309A (en) Method for controlling operation of joint type robot
JPS61136105A (en) Shift controller of industrial robot
JPS58213301A (en) Numerical control system of direct teaching and operating system
JPS575110A (en) Control system for track of industrial robot or the like
US3418548A (en) Contour tracing and tracking system
JPH0623928B2 (en) Robot hand trajectory correction method
SU1199516A1 (en) Apparatus for automatic guiding of welding head along joint
KR960005987B1 (en) Object operation control system