JPS6416394A - Method of limiting operation of industrial robot - Google Patents

Method of limiting operation of industrial robot

Info

Publication number
JPS6416394A
JPS6416394A JP16913687A JP16913687A JPS6416394A JP S6416394 A JPS6416394 A JP S6416394A JP 16913687 A JP16913687 A JP 16913687A JP 16913687 A JP16913687 A JP 16913687A JP S6416394 A JPS6416394 A JP S6416394A
Authority
JP
Japan
Prior art keywords
working part
data
indicated
coordinate system
limit value
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
JP16913687A
Other languages
Japanese (ja)
Other versions
JP2687359B2 (en
Inventor
Taichi Inoue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shinko Electric Co Ltd
Original Assignee
Shinko Electric 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 Shinko Electric Co Ltd filed Critical Shinko Electric Co Ltd
Priority to JP62169136A priority Critical patent/JP2687359B2/en
Publication of JPS6416394A publication Critical patent/JPS6416394A/en
Application granted granted Critical
Publication of JP2687359B2 publication Critical patent/JP2687359B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To prevent the generation of stress in a mechanism part by computing and storing a deceleration pattern for starting to decelerate a working part at a specified passing point before a passing point when the position of each shaft corresponding to this passing point exceeds the limit value, so as to stop the working part in a position where the position of each shaft is kept to the limit value or less. CONSTITUTION: When a robot is started, the position of a working part indicated in each shaft coordinate system is stored as a point Q0 indicated in each shaft coordinate system, in (0) of a buffer. On the basis of the respective passing points P1 , P2 ,... of the working part indicated in an X-, Y-, Z-coordinate system, the respective passing points Q1 , Q2 ,... of the working part indicated in each shaft coordinate system are computed in order and respectively stored in (1), (2),... according to the instruction of an input pointer. Data Q stored in an address indicated by an output pointer every 5 ms, for instance, is read, and the working part is made to act to the value by a servo control part. At the time of computing the data Q, the data Q is compared with the limit value, and in the case of exceeding the limit value, the data Q is recomputed from data between the output pointer and input pointer to gradually decelerate the working part to a stop.
JP62169136A 1987-07-07 1987-07-07 How to limit the movement of industrial robots Expired - Lifetime JP2687359B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62169136A JP2687359B2 (en) 1987-07-07 1987-07-07 How to limit the movement of industrial robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62169136A JP2687359B2 (en) 1987-07-07 1987-07-07 How to limit the movement of industrial robots

Publications (2)

Publication Number Publication Date
JPS6416394A true JPS6416394A (en) 1989-01-19
JP2687359B2 JP2687359B2 (en) 1997-12-08

Family

ID=15880952

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62169136A Expired - Lifetime JP2687359B2 (en) 1987-07-07 1987-07-07 How to limit the movement of industrial robots

Country Status (1)

Country Link
JP (1) JP2687359B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02150192U (en) * 1989-05-19 1990-12-25

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5914054A (en) * 1982-07-14 1984-01-24 Fujitsu Ltd System for controlling switching of spare console
JPS59140504A (en) * 1983-02-01 1984-08-11 Mitsubishi Electric Corp Controller for robot
JPS59193693U (en) * 1983-06-10 1984-12-22 株式会社日立製作所 Collision prevention and deceleration area setting device using IC memory

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5914054A (en) * 1982-07-14 1984-01-24 Fujitsu Ltd System for controlling switching of spare console
JPS59140504A (en) * 1983-02-01 1984-08-11 Mitsubishi Electric Corp Controller for robot
JPS59193693U (en) * 1983-06-10 1984-12-22 株式会社日立製作所 Collision prevention and deceleration area setting device using IC memory

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02150192U (en) * 1989-05-19 1990-12-25

Also Published As

Publication number Publication date
JP2687359B2 (en) 1997-12-08

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Legal Events

Date Code Title Description
EXPY Cancellation because of completion of term