JPS6037009A - 多関節ロボツトの制御装置 - Google Patents

多関節ロボツトの制御装置

Info

Publication number
JPS6037009A
JPS6037009A JP58146251A JP14625183A JPS6037009A JP S6037009 A JPS6037009 A JP S6037009A JP 58146251 A JP58146251 A JP 58146251A JP 14625183 A JP14625183 A JP 14625183A JP S6037009 A JPS6037009 A JP S6037009A
Authority
JP
Japan
Prior art keywords
robot
coordinate system
joint
point
target 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.)
Granted
Application number
JP58146251A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0256681B2 (enrdf_load_stackoverflow
Inventor
Tadashi Akita
正 秋田
Takashi Uchiyama
隆 内山
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 JP58146251A priority Critical patent/JPS6037009A/ja
Publication of JPS6037009A publication Critical patent/JPS6037009A/ja
Publication of JPH0256681B2 publication Critical patent/JPH0256681B2/ja
Granted 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43058—Limitation of acceleration, permissible, tolerable 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
    • G05B2219/43201—Limit speed to allowable speed for all axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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)
  • Manipulator (AREA)
JP58146251A 1983-08-10 1983-08-10 多関節ロボツトの制御装置 Granted JPS6037009A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58146251A JPS6037009A (ja) 1983-08-10 1983-08-10 多関節ロボツトの制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58146251A JPS6037009A (ja) 1983-08-10 1983-08-10 多関節ロボツトの制御装置

Publications (2)

Publication Number Publication Date
JPS6037009A true JPS6037009A (ja) 1985-02-26
JPH0256681B2 JPH0256681B2 (enrdf_load_stackoverflow) 1990-11-30

Family

ID=15403511

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58146251A Granted JPS6037009A (ja) 1983-08-10 1983-08-10 多関節ロボツトの制御装置

Country Status (1)

Country Link
JP (1) JPS6037009A (enrdf_load_stackoverflow)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62221704A (ja) * 1986-03-24 1987-09-29 San Esu Shoko Co Ltd 数値制御方法
JPS62237509A (ja) * 1986-04-09 1987-10-17 San Esu Shoko Co Ltd 数値制御の制御指令デ−タの生成方法
WO1991003009A1 (en) * 1989-08-22 1991-03-07 Fanuc Ltd Acceleration/deceleration control method of numeric controller

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62221704A (ja) * 1986-03-24 1987-09-29 San Esu Shoko Co Ltd 数値制御方法
JPS62237509A (ja) * 1986-04-09 1987-10-17 San Esu Shoko Co Ltd 数値制御の制御指令デ−タの生成方法
WO1991003009A1 (en) * 1989-08-22 1991-03-07 Fanuc Ltd Acceleration/deceleration control method of numeric controller

Also Published As

Publication number Publication date
JPH0256681B2 (enrdf_load_stackoverflow) 1990-11-30

Similar Documents

Publication Publication Date Title
US4727303A (en) Positional control method and system utilizing same
EP0055915A2 (en) Arm locus control method and apparatus
KR910009266B1 (ko) 산업용 로보트의 속도 제어방법 및 장치
JP2524931B2 (ja) ロボットの直線補間方法
JPWO2002066210A1 (ja) ロボット制御装置
WO1995004316A1 (en) Method and system for estimating robot tool center point speed
JPH03263208A (ja) サーボモータ制御装置
JPH0254566B2 (enrdf_load_stackoverflow)
JPS6037009A (ja) 多関節ロボツトの制御装置
JPH04352012A (ja) ロボットの位置制御方法
JPH0375888B2 (enrdf_load_stackoverflow)
JPS6246003B2 (enrdf_load_stackoverflow)
JPH01140310A (ja) ロボットの制御方法
JP2004025355A (ja) ロボットの制御装置
JP2688372B2 (ja) ロボットの軌跡制御装置
JP2740691B2 (ja) 制御方法
JPH05324044A (ja) ロボットの軌跡制御方式
JP2688491B2 (ja) 産業用ロボットの速度制御方法および装置
JPH0830978B2 (ja) 産業用ロボットの教示・再生方法
JP3121920B2 (ja) 加減速制御装置
JPS61147306A (ja) ロボツトの安全装置
JP3194829B2 (ja) ロボットの動作プログラム生成装置
JP2509581B2 (ja) マニピュレ―タの制御方法
JPH1055207A (ja) ロボット制御装置
JP2601433B2 (ja) 工業用ロボットの補間制御方法および装置