JPS6416394A - Method of limiting operation of industrial robot - Google Patents
Method of limiting operation of industrial robotInfo
- 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
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.
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02150192U (en) * | 1989-05-19 | 1990-12-25 |
Citations (3)
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 |
-
1987
- 1987-07-07 JP JP62169136A patent/JP2687359B2/en not_active Expired - Lifetime
Patent Citations (3)
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)
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 |