JPS6461803A - Robot controller - Google Patents

Abstract

PURPOSE:To ensure the fast and highly accurate positioning jobs of a robot in a simple constitution by feeding the output data received from a drive control means back to the input side at a short prescribed time interval through a drive source feedback loop. CONSTITUTION:A main processor 1 receives the position data and the moving speed data for robot control and applies the coordinate conversion to each position data for calculation of each position data on the coordinates. At the same time, the mainprocessor 1 performs an interpolation arithmetic and supplies the position data and the moving speed data to a servo processor for each short prescribed time as the robot moving command value. The processor 2 defines the estimated speed data and the acceleration data operated from the position detecting signal of a position sensor as the feedback input and outputs the current value data serving as the torque command value based on said moving command value. A digital driver 3 outputs the output voltage data and the timing data so that the difference between the current value data and the reference current value data is equal to zero. Thus a servo motor 5 is driven via a power control driver 4.