JPS6445586A - Robot controller - Google Patents

Robot controller

Info

Publication number
JPS6445586A
JPS6445586A JP20079787A JP20079787A JPS6445586A JP S6445586 A JPS6445586 A JP S6445586A JP 20079787 A JP20079787 A JP 20079787A JP 20079787 A JP20079787 A JP 20079787A JP S6445586 A JPS6445586 A JP S6445586A
Authority
JP
Japan
Prior art keywords
force
teaching
displayed
end effector
pushes
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
JP20079787A
Other languages
Japanese (ja)
Inventor
Naoyuki Wakabayashi
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.)
Omron Corp
Original Assignee
Omron Tateisi Electronics Co
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 Omron Tateisi Electronics Co filed Critical Omron Tateisi Electronics Co
Priority to JP20079787A priority Critical patent/JPS6445586A/en
Publication of JPS6445586A publication Critical patent/JPS6445586A/en
Pending legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To form a position command value of the compliance control, which satisfies a desirable pushing force, with the simple teaching by providing a means for detecting the force to be applied to fingers of a robot and for storing the detected force on the basis of a command. CONSTITUTION: At the time of operation with a force teaching mode or the normal operation mode, a switch is closed for the compliance control. In this condition, an operator holds a flange 3, and pushes an end effector 5 to an object 10. At this stage, the force to be applied to the end effector 5 is detected by an inner force sense sensor 4 working to the end effector 5, and displayed in a display 7. The operator monitors strength of the force displayed in the display 7, and while pushes a key 9 when a desirable teaching force is displayed, and that force is stored in a memory. This stored force, a teaching position Xt and a compliance given by a key of a console box 6 are used so as to obtain a position command value Xd on the basis of the predetermined operating expression 1a.
JP20079787A 1987-08-13 1987-08-13 Robot controller Pending JPS6445586A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20079787A JPS6445586A (en) 1987-08-13 1987-08-13 Robot controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP20079787A JPS6445586A (en) 1987-08-13 1987-08-13 Robot controller

Publications (1)

Publication Number Publication Date
JPS6445586A true JPS6445586A (en) 1989-02-20

Family

ID=16430349

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20079787A Pending JPS6445586A (en) 1987-08-13 1987-08-13 Robot controller

Country Status (1)

Country Link
JP (1) JPS6445586A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02243281A (en) * 1989-03-13 1990-09-27 Mitsubishi Electric Corp Robot instruction method
JPH03134714A (en) * 1989-10-20 1991-06-07 Citizen Watch Co Ltd Positioning controller and position teaching method
JPH03214303A (en) * 1990-01-19 1991-09-19 Citizen Watch Co Ltd Positioning controller and track data teaching method
JPH08141961A (en) * 1994-09-19 1996-06-04 Yaskawa Electric Corp Arm driving device
JP2009023047A (en) * 2007-07-19 2009-02-05 Fanuc Ltd Robot controller
JP2009136925A (en) * 2007-12-03 2009-06-25 Yamatake Corp Force display method and force display device
JP2010142909A (en) * 2008-12-19 2010-07-01 Yaskawa Electric Corp Controller for robot
JP2016221653A (en) * 2015-06-03 2016-12-28 セイコーエプソン株式会社 Robot control device and robot system
WO2019017416A1 (en) * 2017-07-20 2019-01-24 キヤノン株式会社 Work robot and method for controlling work robot
JP2019018340A (en) * 2017-07-20 2019-02-07 キヤノン株式会社 Work robot, control method therefor
JP2020116702A (en) * 2019-01-25 2020-08-06 アズビル株式会社 Teaching device and teaching method

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02243281A (en) * 1989-03-13 1990-09-27 Mitsubishi Electric Corp Robot instruction method
JPH03134714A (en) * 1989-10-20 1991-06-07 Citizen Watch Co Ltd Positioning controller and position teaching method
JPH03214303A (en) * 1990-01-19 1991-09-19 Citizen Watch Co Ltd Positioning controller and track data teaching method
JPH08141961A (en) * 1994-09-19 1996-06-04 Yaskawa Electric Corp Arm driving device
JP2009023047A (en) * 2007-07-19 2009-02-05 Fanuc Ltd Robot controller
JP2009136925A (en) * 2007-12-03 2009-06-25 Yamatake Corp Force display method and force display device
JP2010142909A (en) * 2008-12-19 2010-07-01 Yaskawa Electric Corp Controller for robot
JP2016221653A (en) * 2015-06-03 2016-12-28 セイコーエプソン株式会社 Robot control device and robot system
WO2019017416A1 (en) * 2017-07-20 2019-01-24 キヤノン株式会社 Work robot and method for controlling work robot
JP2019018340A (en) * 2017-07-20 2019-02-07 キヤノン株式会社 Work robot, control method therefor
US11685042B2 (en) 2017-07-20 2023-06-27 Canon Kabushiki Kaisha Working robot and control method for working robot
JP2020116702A (en) * 2019-01-25 2020-08-06 アズビル株式会社 Teaching device and teaching method

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