KR910002565A - 로보트 제어방법 - Google Patents

로보트 제어방법 Download PDF

Info

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
Application number
KR1019900010495A
Other languages
English (en)
Inventor
켄지 소가와
Original Assignee
다니이 아끼오
마쯔시다덴기산교 가부시기가이샤
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 다니이 아끼오, 마쯔시다덴기산교 가부시기가이샤 filed Critical 다니이 아끼오
Publication of KR910002565A publication Critical patent/KR910002565A/ko

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)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

내용 없음

Description

로보트 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본발명의 제1실시예의 있어서의 로보트 제어방법의 제어블록도,
제2도는 본발명의 제2실시예에 있어서의 로보트 제어방법의 제어블록도.

Claims (2)

  1. 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.
  2. 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.
KR1019900010495A 1989-07-11 1990-07-11 로보트 제어방법 KR910002565A (ko)

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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0497365B1 (en) * 1991-02-01 1997-12-03 Kabushiki Kaisha Sankyo Seiki Seisakusho Motor control apparatus
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
JPH0343808A (ja) 1991-02-25
US5089758A (en) 1992-02-18

Similar Documents

Publication Publication Date Title
KR870006953A (ko) 주축 포지셔닝 장치
KR910003909A (ko) 모우터의 제어장치
KR920015687A (ko) 동기형 교류 서보모터의 속도제어방법
KR910002565A (ko) 로보트 제어방법
KR830008227A (ko) 수치제어 방식
KR870004352A (ko) 위치 제어장치
KR880700347A (ko) 수평관절형 로보트의 가감속 제어방식
KR890702328A (ko) 서어보 모터의 제어방식
KR930009218A (ko) 교류서보모터의 상전류명령값 발생장치 및 발생방법
GB1438068A (en) Servomechanism
KR920005450A (ko) 전동기의 전류위상 지연 보상방법
KR910010266A (ko) 로보트 토오크 제어방법
KR900700950A (ko) 서보모타 제어 방법
SU1414624A1 (ru) Устройство дл управлени сборочным роботом
RU2218487C2 (ru) Способ управления вращением приводного вала следящего пневмо- или гидропривода и следящий пневмо- или гидропривод вращательного движения
JPS5513457A (en) Controller for work robot
SU862154A1 (ru) Устройство дл регистрации информации
SU1417162A1 (ru) Устройство дл управлени шаговым электродвигателем с дроблением шага
GB2135477A (en) Motor control system
JPH0614292B2 (ja) 産業用ロボツト等の制御装置
SU1522152A1 (ru) Аналого-цифрова след ща система
JPS54114685A (en) Program controller
SU1476430A2 (ru) Силовой след щий привод
KR970072636A (ko) 직류전류(dc) 모터 구동장치
Makino Smart cam application to robot control

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
WITB Written withdrawal of application