JPS6425207A - Controller for articulated robot - Google Patents
Controller for articulated robotInfo
- Publication number
- JPS6425207A JPS6425207A JP18146287A JP18146287A JPS6425207A JP S6425207 A JPS6425207 A JP S6425207A JP 18146287 A JP18146287 A JP 18146287A JP 18146287 A JP18146287 A JP 18146287A JP S6425207 A JPS6425207 A JP S6425207A
- Authority
- JP
- Japan
- Prior art keywords
- offset
- term
- compensation
- time
- integral
- 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 shorten a compensation time, by replacing the convergent value of an integral term at the time of positioning by an offset compensation term. CONSTITUTION:The controller of an articulated robot is constituted of, for example, software, and is constituted of a proportional term calculation means 8, an integral term calculation means 9, a convergence decision means 10, an offset term calculation means 11, an offset term storage means 12, an offset term prediction means 13, and an offset abnormality decision means 14. And by performing offset compensation once by the integral term, the convergent value is stored in the offset compensation term storage means 12, and is added on a speed command. Thereby, the same condition as the one without generating the deviation of offset can be obtained in an operation hereafter, then, the compensation time of the offset can be reduced. Also, even when the deviation of the offset is generated on the middle way of an operation due to temperature change or secular change, the integral term at that time is added automatically on the offset compensation term again, therefore, a positioning time can be prevented from being extended.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62181462A JP2529280B2 (en) | 1987-07-21 | 1987-07-21 | Control device for articulated robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62181462A JP2529280B2 (en) | 1987-07-21 | 1987-07-21 | Control device for articulated robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6425207A true JPS6425207A (en) | 1989-01-27 |
JP2529280B2 JP2529280B2 (en) | 1996-08-28 |
Family
ID=16101180
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62181462A Expired - Lifetime JP2529280B2 (en) | 1987-07-21 | 1987-07-21 | Control device for articulated robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2529280B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016208467A1 (en) * | 2015-06-22 | 2016-12-29 | 三菱電機株式会社 | Calibration device and robot system using same |
-
1987
- 1987-07-21 JP JP62181462A patent/JP2529280B2/en not_active Expired - Lifetime
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016208467A1 (en) * | 2015-06-22 | 2016-12-29 | 三菱電機株式会社 | Calibration device and robot system using same |
JPWO2016208467A1 (en) * | 2015-06-22 | 2017-09-07 | 三菱電機株式会社 | Calibration apparatus and robot system using the same |
Also Published As
Publication number | Publication date |
---|---|
JP2529280B2 (en) | 1996-08-28 |
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