JPS6310207A - Robot control method - Google Patents

Robot control method

Info

Publication number
JPS6310207A
JPS6310207A JP15533986A JP15533986A JPS6310207A JP S6310207 A JPS6310207 A JP S6310207A JP 15533986 A JP15533986 A JP 15533986A JP 15533986 A JP15533986 A JP 15533986A JP S6310207 A JPS6310207 A JP S6310207A
Authority
JP
Japan
Prior art keywords
smooth
robot
command
control
acceleration
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
JP15533986A
Other languages
Japanese (ja)
Other versions
JPH0830975B2 (en
Inventor
Osamu Takahashi
Original Assignee
Matsushita Electric Ind Co 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 Matsushita Electric Ind Co Ltd filed Critical Matsushita Electric Ind Co Ltd
Priority to JP61155339A priority Critical patent/JPH0830975B2/en
Publication of JPS6310207A publication Critical patent/JPS6310207A/en
Publication of JPH0830975B2 publication Critical patent/JPH0830975B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Abstract

PURPOSE: To ensure the smooth actions of a robot at pass points by deciding a certain ratio for correction so as to secure a smooth locus of the robot tip and therefore calculating the new displacement value for execution of the acceleration/deceleration control.
CONSTITUTION: A main control part 2 of a controller 1 calculates an interpolation command 6 serving as the position and speed information for each interpolation and sends it to a servo control part 3. The part 3 performs the acceleration/ deceleration control only for pass points based on the information on the teaching points and then fractionizes the command 6 to produce a speed command 7. This command 7 is converted into a motor command 8 by a servo amplifying part 4 for drive of a manipulator 5. In other words, a certain ratio is decided for prescribed correction so that a smooth locus is secured for the tip of a robot. Thus the new displacement value is calculated for control of the acceleration/deceleration. As a result, the robot tip has a smooth locus and at the same time each axis also has the smooth speed change. Then the fast and smooth actions are secured for the robot.
COPYRIGHT: (C)1988,JPO&Japio
JP61155339A 1986-07-02 1986-07-02 Control method for articulated robot Expired - Lifetime JPH0830975B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61155339A JPH0830975B2 (en) 1986-07-02 1986-07-02 Control method for articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61155339A JPH0830975B2 (en) 1986-07-02 1986-07-02 Control method for articulated robot

Publications (2)

Publication Number Publication Date
JPS6310207A true JPS6310207A (en) 1988-01-16
JPH0830975B2 JPH0830975B2 (en) 1996-03-27

Family

ID=15603726

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61155339A Expired - Lifetime JPH0830975B2 (en) 1986-07-02 1986-07-02 Control method for articulated robot

Country Status (1)

Country Link
JP (1) JPH0830975B2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01255010A (en) * 1988-04-05 1989-10-11 Mitsubishi Electric Corp Curve interpolating device
JPH0236406A (en) * 1988-07-26 1990-02-06 Toyoda Mach Works Ltd Nc device having spline interpolation function
JPH0328313A (en) * 1989-06-26 1991-02-06 Kurosaki Refract Co Ltd Method for removing slag of tapping spout
JPH0352003A (en) * 1989-07-20 1991-03-06 Tokico Ltd Off-line teaching device for industrial robot
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
CN108563122A (en) * 2018-04-12 2018-09-21 江南大学 A kind of mobile robot rate smoothing interpolation method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936811A (en) * 1982-08-25 1984-02-29 Hitachi Ltd Method for interporating route of robot hand
JPS61101810A (en) * 1984-10-24 1986-05-20 Kobe Steel Ltd Controller for robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936811A (en) * 1982-08-25 1984-02-29 Hitachi Ltd Method for interporating route of robot hand
JPS61101810A (en) * 1984-10-24 1986-05-20 Kobe Steel Ltd Controller for robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01255010A (en) * 1988-04-05 1989-10-11 Mitsubishi Electric Corp Curve interpolating device
JPH0236406A (en) * 1988-07-26 1990-02-06 Toyoda Mach Works Ltd Nc device having spline interpolation function
JPH0328313A (en) * 1989-06-26 1991-02-06 Kurosaki Refract Co Ltd Method for removing slag of tapping spout
JPH0352003A (en) * 1989-07-20 1991-03-06 Tokico Ltd Off-line teaching device for industrial robot
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
CN108563122A (en) * 2018-04-12 2018-09-21 江南大学 A kind of mobile robot rate smoothing interpolation method

Also Published As

Publication number Publication date
JPH0830975B2 (en) 1996-03-27

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