JPS631205U - - Google Patents

Info

Publication number
JPS631205U
JPS631205U JP9411386U JP9411386U JPS631205U JP S631205 U JPS631205 U JP S631205U JP 9411386 U JP9411386 U JP 9411386U JP 9411386 U JP9411386 U JP 9411386U JP S631205 U JPS631205 U JP S631205U
Authority
JP
Japan
Prior art keywords
coordinate system
articulated robot
control device
position signal
joint axis
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
Application number
JP9411386U
Other languages
English (en)
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 filed Critical
Priority to JP9411386U priority Critical patent/JPS631205U/ja
Publication of JPS631205U publication Critical patent/JPS631205U/ja
Pending legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Control Of Velocity Or Acceleration (AREA)

Description

【図面の簡単な説明】
第１図は本考案の一実施例を示す構成図、第２
ないし第６図は同動作説明図、第７図および第８
図は従来例を示す構成図である。 １……制御装置、２……サーボアンプ装置、３
……ロボツト、１１……ジヨイステイツク速度指
令発生器、１２……各関節軸位置信号発生器、１
３……座標系再設定器、１４，１５……計算器、
２１〜２６……サーボアンプ、３１〜３６……関
節軸系。

Claims (1)

    【実用新案登録請求の範囲】
  1. 根元座標系における手先の速度指令を多関節軸
    位置信号に応じて各関節への速度指令に分解演算
    する多関節形ロボツトの制御装置において、根元
    座標系に対して前記多関節形ロボツトが回転した
    とき回転位置を新たな根元座標系とみなして各関
    節軸位置信号を変更する座標再設定器を備えてな
    ることを特徴とする多関節形ロボツトの制御装置
    。
JP9411386U 1986-06-20 1986-06-20 Pending JPS631205U (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9411386U JPS631205U (ja) 1986-06-20 1986-06-20

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9411386U JPS631205U (ja) 1986-06-20 1986-06-20

Publications (1)

Publication Number Publication Date
JPS631205U true JPS631205U (ja) 1988-01-07

Family

ID=30957262

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9411386U Pending JPS631205U (ja) 1986-06-20 1986-06-20

Country Status (1)

Country Link
JP (1) JPS631205U (ja)

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