JPS62172581U - - Google Patents
Info
- Publication number
- JPS62172581U JPS62172581U JP1986059692U JP5969286U JPS62172581U JP S62172581 U JPS62172581 U JP S62172581U JP 1986059692 U JP1986059692 U JP 1986059692U JP 5969286 U JP5969286 U JP 5969286U JP S62172581 U JPS62172581 U JP S62172581U
- Authority
- JP
- Japan
- Prior art keywords
- torque
- control
- robot
- speed
- limiter
- 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
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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
- G05B19/402—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 arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- 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
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)
- Control Of Position Or Direction (AREA)
- Safety Devices In Control Systems (AREA)
Description
第1図は本考案の一実施例を示す回路図、第2
図はロボツト制御装置の一般的な構成を示す系統
図、第3図は速度基準がステツプ状に変化した場
合の各部の応答を示す波形図、第4図は振動を発
生しない加減速カーブの一例を示す図、第5図は
第1図で用いられる関数発生器の一例を示す回路
図、第6図は上記関数発生器の出力波形を示す図
である。 1……記憶部、2……演算部、3……位置制御
部、4……速度制御部、5……電流制御部、6…
…電力増幅部、7……電流検出器、8……モータ
、9……速度検出器、10……位置検出器、11
……関数発生器、12……リミツタ。
図はロボツト制御装置の一般的な構成を示す系統
図、第3図は速度基準がステツプ状に変化した場
合の各部の応答を示す波形図、第4図は振動を発
生しない加減速カーブの一例を示す図、第5図は
第1図で用いられる関数発生器の一例を示す回路
図、第6図は上記関数発生器の出力波形を示す図
である。 1……記憶部、2……演算部、3……位置制御
部、4……速度制御部、5……電流制御部、6…
…電力増幅部、7……電流検出器、8……モータ
、9……速度検出器、10……位置検出器、11
……関数発生器、12……リミツタ。
Claims (1)
- 位置制御と、位置制御によつて発生する速度基
準に基づく駆動モータの速度制御と、速度制御に
よつて発生するトルク基準に基づく駆動モータの
トルク制御を有し、位置基準に応じてロボツトの
移動量を制御するロボツト制御装置において、非
常停止時に上記トルク基準を制限するリミツタと
、上記リミツタにロボツトの非常停止が振動を生
ずることなく行われるためのトルクリミツト基準
をあたえる関数発生器を備えたことを特徴とする
ロボツト制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1986059692U JPS62172581U (ja) | 1986-04-22 | 1986-04-22 | |
US07/040,873 US4801856A (en) | 1986-04-22 | 1987-04-21 | Robot control apparatus |
KR2019870005890U KR900004056Y1 (ko) | 1986-04-22 | 1987-04-22 | 로보트 제어장치 |
EP87105893A EP0242867A3 (en) | 1986-04-22 | 1987-04-22 | Robot control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1986059692U JPS62172581U (ja) | 1986-04-22 | 1986-04-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62172581U true JPS62172581U (ja) | 1987-11-02 |
Family
ID=13120518
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1986059692U Pending JPS62172581U (ja) | 1986-04-22 | 1986-04-22 |
Country Status (4)
Country | Link |
---|---|
US (1) | US4801856A (ja) |
EP (1) | EP0242867A3 (ja) |
JP (1) | JPS62172581U (ja) |
KR (1) | KR900004056Y1 (ja) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI88015C (fi) * | 1990-12-17 | 1993-03-25 | Kone Oy | Foerfarande foer generering av hastighetsstaellvaerde foer en lyftmotor |
US5231341A (en) * | 1991-09-18 | 1993-07-27 | Samsung Electronics Co., Ltd. | Limiter circuit of servo motor control apparatus |
US5760560A (en) * | 1993-10-21 | 1998-06-02 | Fanuc, Ltd. | Robot apparatus |
EP0811115B1 (en) * | 1995-08-04 | 2003-10-08 | Koninklijke Philips Electronics N.V. | Electrical actuator with a refined cascade control unit |
IL120889A (en) * | 1997-05-22 | 1998-10-30 | Eshed Robotec 1982 Ltd | Method and facility for direct learning of vending machines |
JP3473834B2 (ja) * | 1999-11-29 | 2003-12-08 | 株式会社安川電機 | ロボットの制御装置 |
CN1212701C (zh) * | 2001-07-13 | 2005-07-27 | 三菱电机株式会社 | 交流电动机的调速装置 |
JP2003025271A (ja) * | 2001-07-16 | 2003-01-29 | Sankyo Seiki Mfg Co Ltd | ロボット制御装置 |
US20050262923A1 (en) * | 2004-05-27 | 2005-12-01 | Lawrence Kates | Method and apparatus for detecting conditions favorable for growth of fungus |
US7142107B2 (en) | 2004-05-27 | 2006-11-28 | Lawrence Kates | Wireless sensor unit |
US7623028B2 (en) * | 2004-05-27 | 2009-11-24 | Lawrence Kates | System and method for high-sensitivity sensor |
US7218237B2 (en) * | 2004-05-27 | 2007-05-15 | Lawrence Kates | Method and apparatus for detecting water leaks |
US7228726B2 (en) * | 2004-09-23 | 2007-06-12 | Lawrence Kates | System and method for utility metering and leak detection |
US7336168B2 (en) * | 2005-06-06 | 2008-02-26 | Lawrence Kates | System and method for variable threshold sensor |
WO2007005947A1 (en) | 2005-07-01 | 2007-01-11 | Terahop Networks, Inc. | Nondeterministic and deterministic network routing |
US7230528B2 (en) * | 2005-09-20 | 2007-06-12 | Lawrence Kates | Programmed wireless sensor system |
US7142123B1 (en) * | 2005-09-23 | 2006-11-28 | Lawrence Kates | Method and apparatus for detecting moisture in building materials |
US7528711B2 (en) * | 2005-12-19 | 2009-05-05 | Lawrence Kates | Portable monitoring unit |
EP1967931A3 (en) * | 2007-03-06 | 2013-10-30 | Yamaha Hatsudoki Kabushiki Kaisha | Vehicle |
WO2009151877A2 (en) | 2008-05-16 | 2009-12-17 | Terahop Networks, Inc. | Systems and apparatus for securing a container |
JP6008121B2 (ja) * | 2013-01-28 | 2016-10-19 | セイコーエプソン株式会社 | ロボットおよびロボット制御装置 |
JP6121972B2 (ja) * | 2014-10-22 | 2017-04-26 | ファナック株式会社 | モータ停止距離を短縮する数値制御装置 |
KR102018670B1 (ko) * | 2017-07-06 | 2019-09-05 | 삼성중공업 주식회사 | 배관내부 주행로봇 |
JP2021091060A (ja) * | 2019-12-12 | 2021-06-17 | セイコーエプソン株式会社 | 制御方法およびロボットシステム |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4962912A (ja) * | 1972-10-20 | 1974-06-18 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1225275B (de) * | 1961-12-21 | 1966-09-22 | Bbc Brown Boveri & Cie | Einrichtung zur selbsttaetigen Bildung einer parabelfoermigen Sollwertspannung |
DE2315118C3 (de) * | 1973-03-27 | 1980-04-17 | Grundig E.M.V. Elektro-Mechanische Versuchsanstalt Max Grundig, 8510 Fuerth | Anordnung zum schnellen Abbremsen eines Magnetbandes |
US3906315A (en) * | 1974-01-15 | 1975-09-16 | Aerojet General Co | Closed-loop, precision-stop induction motor control circuit |
DE2420285C3 (de) * | 1974-04-26 | 1979-12-06 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Vorrichtung zur Steuerung der Bewegung eines Stellglieds |
DE2421959A1 (de) * | 1974-05-07 | 1975-11-27 | Diehl Fa | Anlauf- und auslaufsteuerung fuer einen schrittmotor |
US4250438A (en) * | 1978-03-07 | 1981-02-10 | Oki Electric Industry Co., Ltd. | Digitally controlled acceleration and deceleration system |
JPS5856785A (ja) * | 1981-09-30 | 1983-04-04 | 株式会社三協精機製作所 | 工業用ロボツトの動作制御装置 |
US4413577A (en) * | 1982-11-08 | 1983-11-08 | The Singer Company | Pattern feed balancing arrangement in an electronically controlled sewing machine |
US4426606A (en) * | 1982-11-08 | 1984-01-17 | Sanyo Denki Co., Ltd. | Emergency stop device for brushless motors |
JPS6077072U (ja) * | 1983-11-01 | 1985-05-29 | パイオニア株式会社 | デイスクプレ−ヤのタ−ンテ−ブル回転駆動装置 |
US4734866A (en) * | 1984-07-05 | 1988-03-29 | Siemens Aktiengesellschaft | Computer controller for an industrial multiaxis robot |
-
1986
- 1986-04-22 JP JP1986059692U patent/JPS62172581U/ja active Pending
-
1987
- 1987-04-21 US US07/040,873 patent/US4801856A/en not_active Expired - Fee Related
- 1987-04-22 KR KR2019870005890U patent/KR900004056Y1/ko not_active IP Right Cessation
- 1987-04-22 EP EP87105893A patent/EP0242867A3/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4962912A (ja) * | 1972-10-20 | 1974-06-18 |
Also Published As
Publication number | Publication date |
---|---|
EP0242867A3 (en) | 1989-09-20 |
KR870017066U (ko) | 1987-11-30 |
KR900004056Y1 (ko) | 1990-05-08 |
EP0242867A2 (en) | 1987-10-28 |
US4801856A (en) | 1989-01-31 |