JPS6425207A - Controller for articulated robot - Google Patents

Controller for articulated robot

Info

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
Application number
JP18146287A
Other languages
Japanese (ja)
Other versions
JP2529280B2 (en
Inventor
Hiroyuki Inoue
Toshihiro Ide
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.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial 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 Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP62181462A priority Critical patent/JP2529280B2/en
Publication of JPS6425207A publication Critical patent/JPS6425207A/en
Application granted granted Critical
Publication of JP2529280B2 publication Critical patent/JP2529280B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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  • 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.
JP62181462A 1987-07-21 1987-07-21 Control device for articulated robot Expired - Lifetime JP2529280B2 (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (2)

* Cited by examiner, † Cited by third party
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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