JPS6052506U - Industrial robot control device - Google Patents
Industrial robot control deviceInfo
- Publication number
- JPS6052506U JPS6052506U JP7163484U JP7163484U JPS6052506U JP S6052506 U JPS6052506 U JP S6052506U JP 7163484 U JP7163484 U JP 7163484U JP 7163484 U JP7163484 U JP 7163484U JP S6052506 U JPS6052506 U JP S6052506U
- Authority
- JP
- Japan
- Prior art keywords
- industrial robot
- control device
- operating
- range
- robot control
- 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
Links
Landscapes
- Numerical Control (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
第１図は工業用ロボットの位置指令を示す図、第２図は
本考案を適用する油圧式１業用ロボツトの一例を示す斜
視図、第３図は本考案の制御装置の一実施例を示すブロ
ック図、第４図は第３図の駆動系の固有振動数特性図、
第５図は第３図の開ループ系のゲイン曲線図、第６図は
Ｘ軸上の動作範囲の分割の一実施例を示す説明図、第７
図は第３図の前置増幅器の一実施例を示す回路図である
。
３・・・角形フラム、４・・・横行台、５・・・油圧シ
リンダ、６・・・エンコーダ、７・・・計算機、８・・
・並列２進減算回路、１０・・・前置増幅器、１３・・
・駆動系、１４・・・演算増幅器、−１５ａ、１５ｂ、
１ Ｂ？ １９”’ノット素子、１６，１７・・・ア
ンドゲート、２０゜２１・・・リレー、２２．２３・・
・コンデンサ。Fig. 1 is a diagram showing a position command of an industrial robot, Fig. 2 is a perspective view showing an example of a hydraulic type industrial robot to which the present invention is applied, and Fig. 3 is an example of the control device of the present invention. The block diagram shown in Figure 4 is the natural frequency characteristic diagram of the drive system in Figure 3.
5 is a gain curve diagram of the open loop system in FIG. 3, FIG. 6 is an explanatory diagram showing an example of dividing the operating range on the X axis, and FIG.
The figure is a circuit diagram showing one embodiment of the preamplifier of FIG. 3. 3... Square flam, 4... Traverse table, 5... Hydraulic cylinder, 6... Encoder, 7... Computer, 8...
・Parallel binary subtraction circuit, 10... Preamplifier, 13...
- Drive system, 14... operational amplifier, -15a, 15b,
1 B? 19"' knot element, 16, 17...and gate, 20°21...relay, 22.23...
・Capacitor.
Claims (1)
置によって応答性が異なる駆動系を用いて位置決めする
工業用ロボットにおいて、前記動作軸上での動作範囲を
複数個の範囲に分割し、前記工業用ロボットが位置する
前記分割範囲に応じて異なる遅れ補償回路を構成し、前
記動作範囲全域にわたって円滑な位置決め動作を行ない
得るように制御することを特徴とする工業用ロボットの
制御装置。In an industrial robot that performs positioning using a drive system that has different responsiveness depending on the operating position on the operating axis based on position commands that are updated intermittently, the operating range on the operating axis is divided into a plurality of ranges, A control device for an industrial robot, characterized in that different delay compensation circuits are configured depending on the divided range in which the industrial robot is located, and control is performed so that smooth positioning operation can be performed over the entire operation range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7163484U JPS6052506U (en) | 1984-05-16 | 1984-05-16 | Industrial robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7163484U JPS6052506U (en) | 1984-05-16 | 1984-05-16 | Industrial robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6052506U true JPS6052506U (en) | 1985-04-13 |
Family
ID=30201784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7163484U Pending JPS6052506U (en) | 1984-05-16 | 1984-05-16 | Industrial robot control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6052506U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6436481A (en) * | 1987-07-31 | 1989-02-07 | Kanzaki Paper Mfg Co Ltd | Pressure sensitive copy sheet |
| JPH03262009A (en) * | 1990-03-13 | 1991-11-21 | Hitachi Ltd | Method for controlling multi-degree-of-freedom robot and its teaching method |
| JP2018169765A (en) * | 2017-03-29 | 2018-11-01 | 東芝機械株式会社 | Industrial machine |
-
1984
- 1984-05-16 JP JP7163484U patent/JPS6052506U/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6436481A (en) * | 1987-07-31 | 1989-02-07 | Kanzaki Paper Mfg Co Ltd | Pressure sensitive copy sheet |
| JPH03262009A (en) * | 1990-03-13 | 1991-11-21 | Hitachi Ltd | Method for controlling multi-degree-of-freedom robot and its teaching method |
| JP2018169765A (en) * | 2017-03-29 | 2018-11-01 | 東芝機械株式会社 | Industrial machine |
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