KR890702101A - 로봇 제어 장치 - Google Patents

로봇 제어 장치

Info

Publication number
KR890702101A
KR890702101A KR1019890700818A KR890700818A KR890702101A KR 890702101 A KR890702101 A KR 890702101A KR 1019890700818 A KR1019890700818 A KR 1019890700818A KR 890700818 A KR890700818 A KR 890700818A KR 890702101 A KR890702101 A KR 890702101A
Authority
KR
South Korea
Prior art keywords
maximum speed
acceleration
deceleration
robot control
axis motor
Prior art date
Application number
KR1019890700818A
Other languages
English (en)
Other versions
KR920009889B1 (ko
Inventor
겐이찌 도요다
노부또시 도리이
리오 니헤이
준 기꾸찌
Original Assignee
이나바 세이우에몽
후아낙크 가부시끼가이샤
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 이나바 세이우에몽, 후아낙크 가부시끼가이샤 filed Critical 이나바 세이우에몽
Publication of KR890702101A publication Critical patent/KR890702101A/ko
Application granted granted Critical
Publication of KR920009889B1 publication Critical patent/KR920009889B1/ko

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36471—Recording speed different from playback speed
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41189—Several axis, compensation for load for several axis at the same time
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43056—Asynchronous acceleration between slow, fast axes, rotational, linear axes
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43057—Adjust acceleration, speed until maximum allowable moment for axis
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43063—Acceleration deceleration as function of maximum allowable speed
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43095—Maximum speed and acceleration deceleration time constant as function of position
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43099—Select acceleration deceleration time constants as function of weight, load, position
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43107—Correction acceleration and deceleration as function of speed, time constants in rom

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

내용 없음

Description

로봇 제어 장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제 1 도는 본 발명의 로봇 제어 장치의 개략 구성도. 제 2 도는 제어부에서의 구동 지령의 연산의 흐름을 나타낸 플로우 차아트이다.

Claims (4)

  1. 시점에서 종점에 이르는 로봇 아암의 동작 내용을 규정하는 교시 데이터가 기억되는 기억 수단 ; 각 교시 포인트 간의 동작 중에 각 축 모우터에 걸리는 부하가 각각 모우터 최대출력에 도달하도록 구동축 마다에 최고 속도 및 가감속의 시정수를 결정하는 연산 수단 ; 전기한 기억된 교시 데이터에서 전기한 각축 모우터로의 구동지령을, 전기한 연산된 최고 속도 내에서 또한 그 가감속의 시정수를 가지고 형성하는 지령 수단 ; 을 포함하는 가감속 기능을 갖는 모우터에 구동 지령을 출력함으로써 복수의 구동축을 동시에 제어하는 로봇 제어 장치.
  2. 제 1 항에 있어서, 전기한 연산 수단은, 각 축 모우터마다에 설정된 선정식에 의거하여 최고 속도 및 가감속의 시정수를 결정하는 것임을 특징으로 하는 로봇 제어 장치.
  3. 제 1 항에 있어서, 전기한 연산 수단은, 각 축 모우터마다에 설정된 최고 속도 및 가감속의 시정수를 결정하는 선정 테이블을 기억하는 기억부를 가지고 있는 것을 특징으로 하는 로봇 제어 장치.
  4. 제 3 항에 있어서, 전기한 기억부는, 최고 속도의 다른 복수의 선정 테이블을 가지며, 동작시 최고 속도가 설정 최고 속도에 도달하지 않을 경우에, 전기한 연산 수단에서는 다른 선정 테이블에 의해 최고 속도를 결정하도록 한 것을 특징으로 하는 로봇 제어 장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019890700818A 1987-09-09 1988-09-09 로봇제어장치 KR920009889B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP87-225598 1987-09-09
JP225598/87 1987-09-09
JP62225598A JP2707087B2 (ja) 1987-09-09 1987-09-09 ロボット制御装置
PCT/JP1988/000913 WO1989002623A1 (en) 1987-09-09 1988-09-09 Robot controller

Publications (2)

Publication Number Publication Date
KR890702101A true KR890702101A (ko) 1989-12-22
KR920009889B1 KR920009889B1 (ko) 1992-11-05

Family

ID=16831836

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019890700818A KR920009889B1 (ko) 1987-09-09 1988-09-09 로봇제어장치

Country Status (5)

Country Link
US (1) US4988934A (ko)
EP (1) EP0333867A4 (ko)
JP (1) JP2707087B2 (ko)
KR (1) KR920009889B1 (ko)
WO (1) WO1989002623A1 (ko)

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KR940003204B1 (ko) * 1990-02-27 1994-04-16 가부시끼가이샤 도시바 제어로봇
JPH0430203A (ja) * 1990-05-25 1992-02-03 Fanuc Ltd ロボットの加減速時定数制御方法
JP3038972B2 (ja) * 1991-04-03 2000-05-08 ソニー株式会社 加減速パターン生成装置及びパターン生成方法
JP3083870B2 (ja) * 1991-05-10 2000-09-04 ファナック株式会社 数値制御装置
JP2884816B2 (ja) * 1991-05-10 1999-04-19 神鋼電機株式会社 移動ロボットシステムにおける制御方法
FR2682905B1 (fr) * 1991-10-28 1995-12-01 Commissariat Energie Atomique Procede de generation de trajectoire pour un systeme robotise.
DE69319841T2 (de) * 1992-09-25 1998-12-03 Nec Corp Steuerungsschaltung für hochpräzise Bahnverfolgung welche eine multiaxiale Koordination verwendet
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
JPH0991025A (ja) * 1995-09-26 1997-04-04 Fanuc Ltd 動作デューティを考慮したロボットの最短時間制御方法
JP4060393B2 (ja) * 1996-01-24 2008-03-12 三菱電機株式会社 ロボットの速度演算装置、およびロボットの速度演算方法
KR20010107998A (ko) * 1998-12-03 2001-12-07 다니구찌 이찌로오, 기타오카 다카시 서보시스템 컨트롤러
DE112006000533T5 (de) * 2005-03-04 2008-06-26 Fanuc Robotics America, Inc., Rochester Hills Flexible Verbindung von Lehrvorrichtungen mit programmierbaren Steuervorrichtungen
JP2007164362A (ja) * 2005-12-12 2007-06-28 Fanuc Ltd 時定数自動推定方法及び時定数自動推定装置並びにサーボモータ制御システム
KR101749515B1 (ko) * 2010-10-27 2017-06-21 삼성전자 주식회사 모터 속도 제어 장치 및 그 방법
JP6309847B2 (ja) * 2014-07-14 2018-04-11 ファナック株式会社 定格ワークパラメータを超えるワークを搬送可能なロボット制御装置

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Also Published As

Publication number Publication date
KR920009889B1 (ko) 1992-11-05
JP2707087B2 (ja) 1998-01-28
EP0333867A4 (en) 1993-05-12
WO1989002623A1 (en) 1989-03-23
EP0333867A1 (en) 1989-09-27
JPS6467611A (en) 1989-03-14
US4988934A (en) 1991-01-29

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