KR850001852A - 로보트의 동작 제어장치 - Google Patents

로보트의 동작 제어장치 Download PDF

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Publication number
KR850001852A
KR850001852A KR1019840005212A KR840005212A KR850001852A KR 850001852 A KR850001852 A KR 850001852A KR 1019840005212 A KR1019840005212 A KR 1019840005212A KR 840005212 A KR840005212 A KR 840005212A KR 850001852 A KR850001852 A KR 850001852A
Authority
KR
South Korea
Prior art keywords
stepping motor
control unit
robot
motion controller
robot motion
Prior art date
Application number
KR1019840005212A
Other languages
English (en)
Inventor
아기노부 다게모도 (외 3)
Original Assignee
미쓰다 가쓰시게
가부시기가이샤 히다찌 세이사꾸쇼
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 미쓰다 가쓰시게, 가부시기가이샤 히다찌 세이사꾸쇼 filed Critical 미쓰다 가쓰시게
Publication of KR850001852A publication Critical patent/KR850001852A/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/40—Open loop systems, e.g. using stepping motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33337—For each axis a processor, microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Stepping Motors (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

내용 없음

Description

로보트의 동작 제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명을 이용한 스칼라형 로보트의 외관도. 제3도는 A,B는 본 로보트의 제1축 구동용 모오터의 토오크 대회전수 곡선, 제5도는 펄스 모오터를 가감속 제어시켰을 때의 회전수대 시간곡선.

Claims (3)

  1. 제어부와 이 제어부로 부터 출력에 의해 구동되는 구동부를 구비하고, 그 구동부로 부터 출력에 의해 아암을 점에서 이동 제어하는 로보트의 제어 장치에 있어서, 상기 아암의 각축마다 상기 구동부와 이 구동부에 의해서 여자되는 스텝핑 모우터가 마련됨과 동시에 상기 구동부마다 제어부가 마련되고, 상기 제어부는 스텝핑 모오터의 저속역에서는 상기 모오터를 1-2상 여자 하고, 스텝핑모오터중, 고속역에서는 상기 모오터를 2상 여자를 행하는 것을 특징으로 하는 로보트의 동작 제어 장치.
  2. 상기 스텝핑 모오터는 각각 적어도 1개의 수평 아암의 축과, 상기 수평 아암에 연결하는 수직 아암의 축을 구동하는 것을 특징으로 하는 특허 청구의 범위 제1항 기재의 로버트 제어장치.
  3. 상기 스텝핑 모오터가 2상 스텝핑 모오터인 것을 특징으로 하는 특허 청구의 범위 제1항 기재의 로보트의 제어장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019840005212A 1983-08-29 1984-08-27 로보트의 동작 제어장치 KR850001852A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP58156242A JPS6051500A (ja) 1983-08-29 1983-08-29 ロボットの動作制御装置
JP58-156242 1983-08-29

Publications (1)

Publication Number Publication Date
KR850001852A true KR850001852A (ko) 1985-04-10

Family

ID=15623478

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019840005212A KR850001852A (ko) 1983-08-29 1984-08-27 로보트의 동작 제어장치

Country Status (5)

Country Link
US (1) US4567418A (ko)
EP (1) EP0135772B1 (ko)
JP (1) JPS6051500A (ko)
KR (1) KR850001852A (ko)
DE (1) DE3469858D1 (ko)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61240897A (ja) * 1985-04-16 1986-10-27 Canon Inc ステツプモ−タ駆動装置
JPS6281995A (ja) * 1985-10-04 1987-04-15 Alps Electric Co Ltd パルスモ−タの駆動制御方式
JPS6389096A (ja) * 1986-10-02 1988-04-20 Oki Electric Ind Co Ltd ステツプモ−タの駆動制御方法
JPH01177898A (ja) * 1987-12-29 1989-07-14 Toto Ltd ステッピングモータの駆動装置
US5554914A (en) * 1991-11-05 1996-09-10 Miyazawa; Osamu Micro robot
US5545963A (en) * 1993-04-01 1996-08-13 Canon Denshi Kabushiki Kaisha Seek method and apparatus
JPH07319542A (ja) * 1994-05-30 1995-12-08 Minolta Co Ltd 自走式作業車
GB2292026B (en) * 1994-07-22 1999-02-10 Delco Electronic Overseas Corp Stepper motor circuit and method of operating a stepper motor
DE102004007558B4 (de) * 2004-02-17 2012-06-21 Josef Moser Bewegungseinrichtung mit sinusförmigen Bewegungsablauf
WO2007020008A2 (de) * 2005-08-16 2007-02-22 Josef Moser Bewegungseinrichtung mit doppelseitigem saugbalken
JP2013116023A (ja) * 2011-12-01 2013-06-10 Fuji Xerox Co Ltd 駆動伝達系、後処理装置および画像形成装置
JP6008121B2 (ja) * 2013-01-28 2016-10-19 セイコーエプソン株式会社 ロボットおよびロボット制御装置
JP2016129448A (ja) * 2015-01-09 2016-07-14 オリンパス株式会社 モータ駆動回路、モータの駆動方法、及びモータ駆動のためのプログラム
JP6390884B2 (ja) * 2015-04-27 2018-09-19 工機ホールディングス株式会社 電動工具
JP6458689B2 (ja) * 2015-09-10 2019-01-30 株式会社デンソー モータ制御装置
US10933525B2 (en) * 2018-07-04 2021-03-02 Fanuc Corporation Horizontal articulated robot

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3260375A (en) * 1963-01-14 1966-07-12 Jerome H Lemelson Adjustable manipulator
US3991355A (en) * 1974-02-22 1976-11-09 Xerox Corporation Stepper motor control
US3983468A (en) * 1974-12-30 1976-09-28 Burroughs Corporation Motor drive system including a feedback loop
US4230067A (en) * 1977-09-17 1980-10-28 Hitachi, Ltd. Liquid applying apparatus
CH617559GA3 (ko) * 1977-12-29 1980-06-13
GB2107903B (en) * 1981-09-23 1985-07-17 Copperweld Robotics Inc Mechanical handling apparatus
JPS58154398A (ja) * 1982-03-08 1983-09-13 Fuji Xerox Co Ltd ステツプモ−タの励磁回路

Also Published As

Publication number Publication date
US4567418A (en) 1986-01-28
DE3469858D1 (en) 1988-04-21
EP0135772A3 (en) 1985-05-02
JPS6051500A (ja) 1985-03-22
EP0135772A2 (en) 1985-04-03
EP0135772B1 (en) 1988-03-16

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