JPS61157905A - Controller of industrial robot - Google Patents

Abstract

PURPOSE:To make a device helpful to a reversible operation and to an indirect position specification between multistages by executing a flexible position arithmetic between a reference value and a current position while a series of position information is kept and setting the result to a target register. CONSTITUTION:When a route stated by a series of absolute or relative position information is entirely shifted in accordance with a difference between a preset reference value and a current one, first a reference value available from a digital memory device 3 and a current one from a current position detector 2 are made into the input of digital arithmetic device 5, and the arithmetic result is stored as a shift amount in a position register 4. With outputs of the position registers 4-1-4-n for storing the output from the digital memory device 3 and the shift amount as the input of the digital arithmetic device 5, arithmetic results are sequentially transferred to the target value register 6 afterwards. Thus the arithmetic corresponding to the current value can be applied without destructing a series of route information, thereby shifting entirely a robot.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for an industrial robot, and particularly to a positioning control method thereof.

[Conventional technology]

As a positioning control method for the servo device of an industrial robot, absolute position information is set in the target value register, or relative position information is set as the current target. It is sufficient if there is a flag that indicates the distinction of position information, and the positioning control device only needs to transfer the information to the target value register in the case of absolute position information, and in the case of relative position information, in correspondence with the above flags. All you had to do was add the information to the target value register.

[Problem that the invention seeks to solve]

However, with this method, if you want to shift the whole set of position information, the only way is to rewrite the source information (,
It is often inconvenient to repeatedly use the source information as reference information.

The present invention aims to solve the problems of the conventional method and to obtain target position information by performing flexible position calculations while preserving a series of reference position information.

(Means for Solving the Problems) The present invention provides means for providing a plurality of position registers before a target value register, storing the current position in the same position registers, and means for applying *X to the position registers. , a means for performing calculations between the position registers is prepared, and while a series of position information is stored, flexible position calculations such as calculations with the current position and calculations with other position information can be performed. The result is set in the target value register.

〔Example〕

Hereinafter, the present invention will be explained based on embodiments shown in the drawings.

FIG. 1 is a block diagram that implements the functions of the present invention.

In the figure, 1 is a control circuit, 2 is a current position detector, and 3 is a control circuit.
1 is a digital storage device, 4-1 to 4-N are position registers, 5 is a digital arithmetic unit, 6 is a target value register, and 7 is a gate.

In FIG. 1, a plurality of position registers 4-1 to 4-N are provided in parallel with a digital storage device 3, and a digital arithmetic unit 5 is provided which receives the outputs of both registers as inputs. The output of the digital arithmetic unit 5 becomes the manual input of the target value register 6 or the input of the position registers 4-1 to 4-H. In addition to the output of the digital arithmetic unit 5, the position registers 4-1 to 4-N receive the output of the current position detector 2 as input.

The control circuit 1 controls the opening and closing of the gate 7 that controls the flow of position information and the control signal sent to the digital arithmetic unit 5.

Referring to FIG. 2, when a route described by a series of absolute or relative position information is to be shifted entirely according to the difference between a preset reference value and the current position, the digital storage device is first shifted. The reference value obtained from step 3 and the current value obtained from the current position detector 2 are used as manual power of the digital calculator 5, and the result of the calculation is stored in the position register as shift a. Thereafter, the output from the digital storage device 3 and the output from the position registers 4-1 to 4-N storing the shift amounts are input to the digital arithmetic unit 5, and the arithmetic results are sequentially transferred to the target value register.

By doing so, it is possible to perform an operation corresponding to the current value and shift the entire set of route information without destroying it.

In addition, this method is very effective for reversible operations such as enlarging or reducing the reference path or reversing it.
In addition, multi-stage indirect position specification by setting a plurality of shift data is also effective.

〔Effect of the invention〕

As described above, according to the present invention, there is an effect that target position information can be obtained by performing flexible position calculations while preserving a series of reference position information.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a configuration for implementing the present invention, and FIG. 2 is a diagram showing the operation path of a controlled object. 1: Control circuit 2: Current position detector 3: Digital storage device 4: Position register 5: Digital arithmetic unit 6: Target value register 7: Gate patent applicant Yasuyo Electric Manufacturing Co., Ltd. ILL1 2; Engineering 2

Claims (1)

[Claims] 1. A positioning control device that outputs a command signal to a servo device of an industrial robot, including a plurality of position registers that store absolute or relative position information, and a current position stored in the same position register. 1. A control device for an industrial robot, comprising: means for performing calculations on the position registers; and means for performing calculations between the position registers.