JPS6467605A - Conveyor synchronous control method for robot - Google Patents

Conveyor synchronous control method for robot

Info

Publication number
JPS6467605A
JPS6467605A JP22588187A JP22588187A JPS6467605A JP S6467605 A JPS6467605 A JP S6467605A JP 22588187 A JP22588187 A JP 22588187A JP 22588187 A JP22588187 A JP 22588187A JP S6467605 A JPS6467605 A JP S6467605A
Authority
JP
Japan
Prior art keywords
conveyor
robot
value
shift value
data
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
JP22588187A
Other languages
Japanese (ja)
Inventor
Nobuyoshi Matsuoka
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.)
Proterial Ltd
Original Assignee
Hitachi Metals 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 Hitachi Metals Ltd filed Critical Hitachi Metals Ltd
Priority to JP22588187A priority Critical patent/JPS6467605A/en
Publication of JPS6467605A publication Critical patent/JPS6467605A/en
Pending legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To realize the control of a conveyor with high follow-up performance to the fluctuation of the conveyor speed by correcting the real shift value for each calculation of an interpolation point. CONSTITUTION:The working point data is obtained when a serial interface 16 points the working point of a work put on a conveyor displayed on a screen of a monitor TV 11 by means of a stylus pen of a digitizer 12. With input of said working point data, a CPU 17 transforms this data into the target coordinates of a robot 23 by the prescribed coordinate transformation. At the same time, a parallel interface 21 supplies the data on a position converter 26 that delivers the present value of each axis of the robot 23 in the absolute value. A U/D counter 20 gives the addition/subtraction to the output pulse of a conveyor encoder 24 which detects the shift value of the conveyor. The CPU 17 calculates the count value of the counter 20 to obtain the shift value of the conveyor. A D/A converter 19 corrects the shift value of the conveyor and outputs the manipulated variable obtained from the difference the interpolation point of each axis obtained by giving correction to the conveyor shift value and the present value of each axis to a servo driver 22 as a speed command. Thus the smooth actuation is ensured for the robot 23.
JP22588187A 1987-09-09 1987-09-09 Conveyor synchronous control method for robot Pending JPS6467605A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22588187A JPS6467605A (en) 1987-09-09 1987-09-09 Conveyor synchronous control method for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22588187A JPS6467605A (en) 1987-09-09 1987-09-09 Conveyor synchronous control method for robot

Publications (1)

Publication Number Publication Date
JPS6467605A true JPS6467605A (en) 1989-03-14

Family

ID=16836324

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22588187A Pending JPS6467605A (en) 1987-09-09 1987-09-09 Conveyor synchronous control method for robot

Country Status (1)

Country Link
JP (1) JPS6467605A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4121531A1 (en) * 1990-06-29 1992-01-02 Mitsubishi Electric Corp Motion control system for machine tool - uses position correcting delays to be used to modify cycle
JPH0863214A (en) * 1994-08-25 1996-03-08 Fanuc Ltd Visual tracking method
CN111496798A (en) * 2020-05-18 2020-08-07 北京配天技术有限公司 Robot conveyor belt tracking method, equipment and storage device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59225405A (en) * 1983-06-03 1984-12-18 Fanuc Ltd Method for forming robot command program
JPS60176108A (en) * 1984-02-22 1985-09-10 Hitachi Ltd External synchronism operation correcting system
JPS60237505A (en) * 1984-05-09 1985-11-26 Fanuc Ltd Robot control method
JPS62108314A (en) * 1985-11-07 1987-05-19 Mitsubishi Electric Corp Off-line programming device for robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59225405A (en) * 1983-06-03 1984-12-18 Fanuc Ltd Method for forming robot command program
JPS60176108A (en) * 1984-02-22 1985-09-10 Hitachi Ltd External synchronism operation correcting system
JPS60237505A (en) * 1984-05-09 1985-11-26 Fanuc Ltd Robot control method
JPS62108314A (en) * 1985-11-07 1987-05-19 Mitsubishi Electric Corp Off-line programming device for robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4121531A1 (en) * 1990-06-29 1992-01-02 Mitsubishi Electric Corp Motion control system for machine tool - uses position correcting delays to be used to modify cycle
JPH0460809A (en) * 1990-06-29 1992-02-26 Mitsubishi Electric Corp Motion controller and its synchronous control method
US5521830A (en) * 1990-06-29 1996-05-28 Mitsubishi Denki Kabushi Kaisha Motion controller and synchronous control process therefor
DE4121531C2 (en) * 1990-06-29 2000-05-31 Mitsubishi Electric Corp Motion control device
JPH0863214A (en) * 1994-08-25 1996-03-08 Fanuc Ltd Visual tracking method
CN111496798A (en) * 2020-05-18 2020-08-07 北京配天技术有限公司 Robot conveyor belt tracking method, equipment and storage device
CN111496798B (en) * 2020-05-18 2022-06-14 北京配天技术有限公司 Robot conveyor belt tracking method, equipment and storage device

Similar Documents

Publication Publication Date Title
EP3342550A1 (en) Manipulator system
WO2018086226A1 (en) Control method and apparatus for robotic arm
EP0130570A2 (en) Method and apparatus for controlling a robot hand along a predetermined path
CN109857100A (en) A kind of complex track tracking control algorithm based on the method for inversion and fast terminal sliding formwork
US4683543A (en) Time-based interpolation control of a robot
US10507585B2 (en) Robot system that displays speed
JPS6223722A (en) Apparatus for controlling pressure/speed pattern of injection molding machine
JPS6467605A (en) Conveyor synchronous control method for robot
KR100818059B1 (en) Method for controlling human arm motion reproduction of humanoid robot
KR101263487B1 (en) Teaching device for robot
JPH0693209B2 (en) Robot's circular interpolation attitude control device
US11385615B2 (en) Control data generation device, control data generation method, and storage medium
JPS62115505A (en) Automatic setting device for teaching point of industrial robot
Flash et al. Communication: Discrete trajectory planning
JPS575110A (en) Control system for track of industrial robot or the like
JP3089027B2 (en) Robot profiling control device
JPH02310706A (en) Articulated robot controller
JP2703099B2 (en) Conveyor tracking method for industrial robots
JPS60217407A (en) System for avoiding interference of robot by adjustment of timing
JPS60200313A (en) Robot coordinate corrector
JPS63167906A (en) Servo-control unit
JPH03176706A (en) Gain setting device for robot controller
KR0160699B1 (en) Method for circular error compensation of robot
CN113478479A (en) Acceleration selection method based on industrial robot quintic polynomial trajectory planning intermediate point
JPS62127905A (en) Action simulator device for robot arm