KR910002565A - 로보트 제어방법 - Google Patents
로보트 제어방법 Download PDFInfo
- Publication number
- KR910002565A KR910002565A KR1019900010495A KR900010495A KR910002565A KR 910002565 A KR910002565 A KR 910002565A KR 1019900010495 A KR1019900010495 A KR 1019900010495A KR 900010495 A KR900010495 A KR 900010495A KR 910002565 A KR910002565 A KR 910002565A
- Authority
- KR
- South Korea
- Prior art keywords
- phase
- control method
- robot control
- motor
- speed
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- G05B19/21—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 using an incremental digital measuring device
- G05B19/23—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 using an incremental digital measuring device for point-to-point control
- G05B19/231—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 using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/232—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 using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
내용 없음
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본발명의 제1실시예의 있어서의 로보트 제어방법의 제어블록도,
제2도는 본발명의 제2실시예에 있어서의 로보트 제어방법의 제어블록도.
Claims (2)
- 아암을 직접 구동하는 모우터와, 모우터의 가동부의 위치와 속도를 검출하는 부호기와, 모우터의 속도를 제어하는 모우터 드라이버를 사용하여 위치편차가 작은범위는 위치편차를 크게 한 값을 DA변환하고, DA변환후의 에널로그계인을 작게하여 속도지령으로 하고, 위치편차가 큰범위는 위치편차를 작게한 값을 DA변환하고 DA변환후의 에널로그계인을 크게하여 속도지령을 생성하는 것을 특징으로 하는 로보트 제어방법.
- 제1항에 있어서, 부호기출력을 서로 90°위상차가 있는 A상 및 B상의 사인파로 하고 위치편차가 작은 범위에서는 A상+B상, -A상+B상, A상-B상, -A상-B상을 각각 A상과 B상의 상태에 따라서 절환한 에널로그연산 결과를 속도지령에 가산하는 것을 특징으로 하는 로보트 제어방법.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1179559A JPH0343808A (ja) | 1989-07-11 | 1989-07-11 | ロボット制御方法 |
JP1-179559 | 1989-07-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR910002565A true KR910002565A (ko) | 1991-02-25 |
Family
ID=16067855
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019900010495A KR910002565A (ko) | 1989-07-11 | 1990-07-11 | 로보트 제어방법 |
Country Status (3)
Country | Link |
---|---|
US (1) | US5089758A (ko) |
JP (1) | JPH0343808A (ko) |
KR (1) | KR910002565A (ko) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5235262A (en) * | 1991-02-01 | 1993-08-10 | K.K. Sankyo Seiki Seisakusho | Motor control apparatus for controlling the position of a motor-driven object |
US5331264A (en) * | 1993-04-15 | 1994-07-19 | Fanuc Robotics North America, Inc. | Method and device for generating an input command for a motion control system |
JP2639400B2 (ja) * | 1994-05-31 | 1997-08-13 | 大成プレハブ株式会社 | 鉄板支え具 |
US6002232A (en) * | 1997-08-15 | 1999-12-14 | Iowa State University Research Foundation, Inc. | Robust vibration suppression methods and systems |
US8000837B2 (en) * | 2004-10-05 | 2011-08-16 | J&L Group International, Llc | Programmable load forming system, components thereof, and methods of use |
JP5609214B2 (ja) * | 2010-04-02 | 2014-10-22 | セイコーエプソン株式会社 | プロジェクターおよびその制御方法 |
CN108638056A (zh) * | 2018-04-13 | 2018-10-12 | 华南理工大学 | 基于柔体动力学模型的机器人关节振动分析与抑制方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4533991A (en) * | 1982-12-29 | 1985-08-06 | Storage Technology Corporation | Adaptive feedforward servo system |
JPS59231615A (ja) * | 1983-06-13 | 1984-12-26 | Fanuc Ltd | 位置ル−プゲイン制御方法 |
JPS61147302A (ja) * | 1984-12-20 | 1986-07-05 | Fujitsu Ltd | デイジタルサ−ボ制御方式 |
JPS621013A (ja) * | 1985-06-26 | 1987-01-07 | Mitsubishi Electric Corp | 回転体の位置決め制御装置 |
JPH0716854B2 (ja) * | 1986-11-07 | 1995-03-01 | 豊田工機株式会社 | 数値制御送り装置 |
-
1989
- 1989-07-11 JP JP1179559A patent/JPH0343808A/ja active Pending
-
1990
- 1990-07-05 US US07/548,591 patent/US5089758A/en not_active Expired - Fee Related
- 1990-07-11 KR KR1019900010495A patent/KR910002565A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
US5089758A (en) | 1992-02-18 |
JPH0343808A (ja) | 1991-02-25 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
WITB | Written withdrawal of application |