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JPS5513457A - Controller for work robot - Google Patents

Controller for work robot

Info

Publication number
JPS5513457A
JPS5513457A JP8577478A JP8577478A JPS5513457A JP S5513457 A JPS5513457 A JP S5513457A JP 8577478 A JP8577478 A JP 8577478A JP 8577478 A JP8577478 A JP 8577478A JP S5513457 A JPS5513457 A JP S5513457A
Authority
JP
Japan
Prior art keywords
robot
work
transmitter
position information
given
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
JP8577478A
Other languages
Japanese (ja)
Inventor
Shunichi Nishizawa
Nobuo Inoue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP8577478A priority Critical patent/JPS5513457A/en
Publication of JPS5513457A publication Critical patent/JPS5513457A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To increase the application of the work robot by giving a direct interpolation to the deviation between the present value information and the position information of the robot, giving the command to the shift velocity of each axis of the robot and then controlling the driving system by the command to give a partial correction in the process of the work. CONSTITUTION:The position information of the work robot's arm and the frequency given from address advancing transmitter 14 are memorized in wire memory 11 based on the frequency from transmitter 14, and the arm's present value given from absolute encoder 12 is memorized in memory 11 via switch S1. Then the position information and the present value of the arm in memory 11 are read in sequence by the output of transmitter 14 and then transferred to velocity transmitter 13 through switch S2. After this, a direct interpolation is given to the deviation data between the position information and the present value, and a control is given through driving system 21 to secure the synchronization between the start and end points of each axis of the robot. In this case, the switching operation between switch S1 and S2 according to the work process in order to secure a partial correction in the process of the work. Thus the application of the work robot can be increased.
JP8577478A 1978-07-14 1978-07-14 Controller for work robot Pending JPS5513457A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8577478A JPS5513457A (en) 1978-07-14 1978-07-14 Controller for work robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8577478A JPS5513457A (en) 1978-07-14 1978-07-14 Controller for work robot

Publications (1)

Publication Number Publication Date
JPS5513457A true JPS5513457A (en) 1980-01-30

Family

ID=13868214

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8577478A Pending JPS5513457A (en) 1978-07-14 1978-07-14 Controller for work robot

Country Status (1)

Country Link
JP (1) JPS5513457A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58172708A (en) * 1982-04-02 1983-10-11 Yamazaki Mazak Corp Interruption program controlling method of numerical control lathe
JPH01109410A (en) * 1987-10-23 1989-04-26 Kobe Steel Ltd Method for teaching position data of robot
JPH01151965A (en) * 1987-12-09 1989-06-14 Bridgestone Corp Speed fine controllable coating robot
JPH0293908A (en) * 1988-09-30 1990-04-04 Okuma Mach Works Ltd Method for defining shape in numerical control information forming function

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58172708A (en) * 1982-04-02 1983-10-11 Yamazaki Mazak Corp Interruption program controlling method of numerical control lathe
JPH0412482B2 (en) * 1982-04-02 1992-03-04 Yamazaki Mazak Corp
JPH01109410A (en) * 1987-10-23 1989-04-26 Kobe Steel Ltd Method for teaching position data of robot
JPH01151965A (en) * 1987-12-09 1989-06-14 Bridgestone Corp Speed fine controllable coating robot
JP2650695B2 (en) * 1987-12-09 1997-09-03 株式会社ブリヂストン Painting robot with adjustable speed
JPH0293908A (en) * 1988-09-30 1990-04-04 Okuma Mach Works Ltd Method for defining shape in numerical control information forming function

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