JPS6484309A - Method for controlling operation of joint type robot - Google Patents
Method for controlling operation of joint type robotInfo
- Publication number
- JPS6484309A JPS6484309A JP24072587A JP24072587A JPS6484309A JP S6484309 A JPS6484309 A JP S6484309A JP 24072587 A JP24072587 A JP 24072587A JP 24072587 A JP24072587 A JP 24072587A JP S6484309 A JPS6484309 A JP S6484309A
- Authority
- JP
- Japan
- Prior art keywords
- teaching point
- robot arm
- constant speed
- tip part
- teaching
- 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 continuously move the tip part of a robot arm without repeating acceleration-constant speed-deceleration-stop in each teaching point by moving the tip part along a smooth circular arc in the vicinity of each teaching point. CONSTITUTION:The robot arm moves on a straight line constituted of two teaching points at a constant speed other than a corner part of a teaching point Pi, and in the vicinity of a specially fixed teaching point Pi, moves virtually on a straight line constituted of two teaching points at a constant speed, but a practical route is mapped on an inscribed circle, the robot arm is specified so as to move on the inscribed circle. Thereby, the tip part of the robot arm is moved while drawing a smooth locus without stopping in the vicinity of an especially fixed teaching point. Consequently, the tip part can be continuously moved without repeating acceleration constant speed deceleration stop in each teaching point P and proper speed characteristics can be applied so that excess load can not be applied to the robot arm at the time of passing a teaching point Pi.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62240725A JPH06105412B2 (en) | 1987-09-28 | 1987-09-28 | Motion control method for articulated robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62240725A JPH06105412B2 (en) | 1987-09-28 | 1987-09-28 | Motion control method for articulated robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6484309A true JPS6484309A (en) | 1989-03-29 |
JPH06105412B2 JPH06105412B2 (en) | 1994-12-21 |
Family
ID=17063773
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62240725A Expired - Lifetime JPH06105412B2 (en) | 1987-09-28 | 1987-09-28 | Motion control method for articulated robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06105412B2 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04353906A (en) * | 1991-05-30 | 1992-12-08 | Mitsutoyo Corp | Movement controller for mobile object |
US5187141A (en) * | 1990-08-24 | 1993-02-16 | Jha Mahesh C | Process for the manufacture of activated carbon from coal by mild gasification and hydrogenation |
JPH0553638A (en) * | 1991-08-28 | 1993-03-05 | Matsushita Electric Ind Co Ltd | Multi-articulation robot control method |
JPH06180605A (en) * | 1992-10-16 | 1994-06-28 | Makino Milling Mach Co Ltd | Fast feeding control method and device for machine tool |
JP2005234862A (en) * | 2004-02-19 | 2005-09-02 | Hitachi Industrial Equipment Systems Co Ltd | Motion controller device |
JP2010092142A (en) * | 2008-10-06 | 2010-04-22 | Mori Seiki Co Ltd | Automatic programming device and controller for nc machine equipped with the same |
JP2014104558A (en) * | 2012-11-29 | 2014-06-09 | Daihen Corp | Controlling device |
CN110977932A (en) * | 2018-10-03 | 2020-04-10 | 发那科株式会社 | Robot teaching device, robot teaching method, and method for storing operation command |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62164114A (en) * | 1986-01-16 | 1987-07-20 | Hitachi Ltd | Robot with speed interpolating function |
-
1987
- 1987-09-28 JP JP62240725A patent/JPH06105412B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62164114A (en) * | 1986-01-16 | 1987-07-20 | Hitachi Ltd | Robot with speed interpolating function |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5187141A (en) * | 1990-08-24 | 1993-02-16 | Jha Mahesh C | Process for the manufacture of activated carbon from coal by mild gasification and hydrogenation |
JPH04353906A (en) * | 1991-05-30 | 1992-12-08 | Mitsutoyo Corp | Movement controller for mobile object |
JPH0553638A (en) * | 1991-08-28 | 1993-03-05 | Matsushita Electric Ind Co Ltd | Multi-articulation robot control method |
JPH06180605A (en) * | 1992-10-16 | 1994-06-28 | Makino Milling Mach Co Ltd | Fast feeding control method and device for machine tool |
JP2005234862A (en) * | 2004-02-19 | 2005-09-02 | Hitachi Industrial Equipment Systems Co Ltd | Motion controller device |
JP2010092142A (en) * | 2008-10-06 | 2010-04-22 | Mori Seiki Co Ltd | Automatic programming device and controller for nc machine equipped with the same |
JP2014104558A (en) * | 2012-11-29 | 2014-06-09 | Daihen Corp | Controlling device |
CN110977932A (en) * | 2018-10-03 | 2020-04-10 | 发那科株式会社 | Robot teaching device, robot teaching method, and method for storing operation command |
Also Published As
Publication number | Publication date |
---|---|
JPH06105412B2 (en) | 1994-12-21 |
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