KR920017774A - 로보트용 회전위치 검출기 - Google Patents

로보트용 회전위치 검출기 Download PDF

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Publication number
KR920017774A
KR920017774A KR1019920003875A KR920003875A KR920017774A KR 920017774 A KR920017774 A KR 920017774A KR 1019920003875 A KR1019920003875 A KR 1019920003875A KR 920003875 A KR920003875 A KR 920003875A KR 920017774 A KR920017774 A KR 920017774A
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KR
South Korea
Prior art keywords
robot
rotational position
position detector
detector
absolute value
Prior art date
Application number
KR1019920003875A
Other languages
English (en)
Other versions
KR940010897B1 (ko
Inventor
노보루 다까기
미쓰요시 오바따
Original Assignee
가메다까 소끼찌
가부시끼가이샤 고오베 세이꼬오쇼
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 가메다까 소끼찌, 가부시끼가이샤 고오베 세이꼬오쇼 filed Critical 가메다까 소끼찌
Publication of KR920017774A publication Critical patent/KR920017774A/ko
Application granted granted Critical
Publication of KR940010897B1 publication Critical patent/KR940010897B1/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
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2497—Absolute encoders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

내용 없음

Description

로봇용 회전위치 검출기
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 실시예에 따라 회전위치 검출기를 포함하여 로보트의 주요부분을 보여주는 구조도,
제2도는 제1도에 도시된 회전위치 검출기를 구성하는 리졸버(절대값 검출기)로 부터의 출력 신호값과 손목부재의 회전위치 사이의 관계를 보여주는 도면,
제3도는 본 발명의 배경기술을 설명하기 위한 로보트의 주요부분의 개요를 보여주는 구조도.

Claims (1)

  1. 로보트용 회전 위치 검출기에 있어서, 각각 다중 회전이 가능한 회전부재; 및 상기회전부재의 회전위치를 검출하기 위한 절대값 검출기를 구비하고, 상기 절대값 검출기의 각각은 상기 절대값 검출기의 회전각 주기의 상기 회전부재의 회전각 주기에 대한 비가 1:N(N은 1보다 큰 정수)이 되게 설정되도록 상기 회전부재의 각각에 연결되는 것을 특징으로 하는 로보트용 회전위치 검출기.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019920003875A 1991-03-22 1992-03-09 로보트용 회전위치 검출기 KR940010897B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP3058908A JPH04294406A (ja) 1991-03-22 1991-03-22 ロボットの回転位置検出装置
JP91-058908 1991-03-22
JP91-58908 1991-03-22

Publications (2)

Publication Number Publication Date
KR920017774A true KR920017774A (ko) 1992-10-21
KR940010897B1 KR940010897B1 (ko) 1994-11-19

Family

ID=13097915

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920003875A KR940010897B1 (ko) 1991-03-22 1992-03-09 로보트용 회전위치 검출기

Country Status (5)

Country Link
US (1) US5254922A (ko)
EP (1) EP0513486B1 (ko)
JP (1) JPH04294406A (ko)
KR (1) KR940010897B1 (ko)
DE (1) DE69213313T2 (ko)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1263434B (it) * 1993-06-16 1996-08-05 Gd Spa Unita' di prelievo ed alimentazione di pile di sbozzati
EP2098829A1 (en) * 2008-03-03 2009-09-09 Alcatel Lucent Absolute encoder and electric drive

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1032342A (en) * 1961-08-15 1966-06-08 Emi Ltd Improvements relating to phase shift comparison circuits
JPS5153846A (ja) * 1974-11-06 1976-05-12 Mitsubishi Electric Corp Zetsutaiichikenshutsusochi
JPS5852280B2 (ja) * 1976-07-07 1983-11-21 三菱電機株式会社 絶対位置検出装置
JPS5916292B2 (ja) * 1977-09-08 1984-04-14 ファナック株式会社 主軸制御方式
JPS54114685A (en) * 1978-02-27 1979-09-06 Kobe Steel Ltd Program controller
JPS5653591A (en) * 1979-10-09 1981-05-13 Fanuc Ltd Main shaft revolution control system
JPS5654523A (en) * 1979-10-09 1981-05-14 Fanuc Ltd Controller for stopping main axle at fixed position
JPS56102451A (en) * 1979-12-31 1981-08-15 Fanuc Ltd Control system for stopping main spindle at definite position
JPS5775753A (en) * 1980-10-30 1982-05-12 Fanuc Ltd Main shaft rotary position control system
JPS5794810A (en) * 1980-12-04 1982-06-12 Fanuc Ltd Main shaft stopping device at constant position
JPS59188518A (ja) * 1983-04-11 1984-10-25 Fanuc Ltd サ−ボ制御系の絶対位置検出方式
JPS59188517A (ja) * 1983-04-11 1984-10-25 Fanuc Ltd サ−ボ制御系の絶対位置検出方式
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
DE3429648A1 (de) * 1984-08-11 1986-02-13 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Lagemesseinrichtung
JP2568068B2 (ja) * 1986-03-14 1996-12-25 ファナック 株式会社 モ−タのロ−タ回転位置検出器
DE3720828A1 (de) * 1987-06-24 1989-01-05 Bosch Gmbh Robert Messeinrichtung und verfahren zur lageistwerterfassung
EP0312635B1 (en) * 1987-10-22 1993-03-17 Mitsubishi Denki Kabushiki Kaisha Numerical control apparatus
DE3837526A1 (de) * 1988-09-23 1989-12-28 Kuka Schweissanlagen & Roboter Verfahren und vorrichtung zum justieren einer achse
US5093610A (en) * 1990-02-12 1992-03-03 Abb Robotics Inc. Apparatus for absolute position measurement

Also Published As

Publication number Publication date
US5254922A (en) 1993-10-19
KR940010897B1 (ko) 1994-11-19
DE69213313D1 (de) 1996-10-10
EP0513486B1 (en) 1996-09-04
JPH04294406A (ja) 1992-10-19
DE69213313T2 (de) 1997-02-06
EP0513486A1 (en) 1992-11-19

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