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JPS56159707A - Controller of industrial robot - Google Patents

Controller of industrial robot

Info

Publication number
JPS56159707A
JPS56159707A JP6358980A JP6358980A JPS56159707A JP S56159707 A JPS56159707 A JP S56159707A JP 6358980 A JP6358980 A JP 6358980A JP 6358980 A JP6358980 A JP 6358980A JP S56159707 A JPS56159707 A JP S56159707A
Authority
JP
Japan
Prior art keywords
axes
controller
command signals
signals
signal
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.)
Granted
Application number
JP6358980A
Other languages
Japanese (ja)
Other versions
JPH0222401B2 (en
Inventor
Etsuzo Murakami
Toshio Yoneda
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.)
Daihen Corp
Original Assignee
Daihen Corp
Osaka Transformer Co 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 Daihen Corp, Osaka Transformer Co Ltd filed Critical Daihen Corp
Priority to JP6358980A priority Critical patent/JPS56159707A/en
Publication of JPS56159707A publication Critical patent/JPS56159707A/en
Publication of JPH0222401B2 publication Critical patent/JPH0222401B2/ja
Granted 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
    • G05B19/18—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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50353—Tool, probe inclination, orientation to surface, posture, attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To perform operation in changing the attitude of a working tool and in varying its effective length. CONSTITUTION:A controller 9 outputs position command signals xc-phic for respective axes at pulse intervals which correspond to a prescribed moving speed, and respective axes are driven by a servocontrol circuit by receiving those signals. Results of this positioning are detected by encoder 11c-15c and fed back to control circuits 11a-15a for the axes. Position command signals thetac and phic for hand shafts are integrated by registers 16 and 17 for recording current positions of shafts theta and psi. Integration results are outputted to an arithmetic circuit 18. On the other hand, the controller 9 outputs a signal (a) commanding the effective length of a working tool, and this signal (a) is supplied to the arithmetic circuit 18, which calculates the extents of corrections for X, Y and Z axes by using the input signal and signals theta and phi from registers 16 and 17. Then, the extents of corrections are added to command signals xc, yc and zc for main coordinate axes by correcting circuits 21 and 23 and sums are supplied to driving circuits 11a-13a for respective axes.
JP6358980A 1980-05-13 1980-05-13 Controller of industrial robot Granted JPS56159707A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP6358980A JPS56159707A (en) 1980-05-13 1980-05-13 Controller of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6358980A JPS56159707A (en) 1980-05-13 1980-05-13 Controller of industrial robot

Publications (2)

Publication Number Publication Date
JPS56159707A true JPS56159707A (en) 1981-12-09
JPH0222401B2 JPH0222401B2 (en) 1990-05-18

Family

ID=13233600

Family Applications (1)

Application Number Title Priority Date Filing Date
JP6358980A Granted JPS56159707A (en) 1980-05-13 1980-05-13 Controller of industrial robot

Country Status (1)

Country Link
JP (1) JPS56159707A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58137006A (en) * 1982-02-09 1983-08-15 Komatsu Ltd Controlling system for robot
WO1985001132A1 (en) * 1983-09-06 1985-03-14 Fanuc Ltd Method of preparing numerical control data
WO1986000729A1 (en) * 1984-07-16 1986-01-30 Fanuc Ltd System for correcting position of tool
JPS63502783A (en) * 1986-02-25 1988-10-13 トラルファ　ロボット　アクチ−セルスカペット Method for program control of work tools and robot equipment
JP2007260757A (en) * 2006-03-30 2007-10-11 Daihen Corp Arc welding robot controller
US7283889B2 (en) 2003-02-19 2007-10-16 Fanuc Ltd Numerical control device, and numerical control method
JP2007275945A (en) * 2006-04-07 2007-10-25 Asahi Glass Co Ltd Molding method for manufacturing molded article of three dimensional free shape, and apparatus therefor
CN117850347A (en) * 2023-12-29 2024-04-09 深圳市软赢科技有限公司 Two-dimensional position comparison method, system, equipment and storage medium for motion control

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58137006A (en) * 1982-02-09 1983-08-15 Komatsu Ltd Controlling system for robot
WO1985001132A1 (en) * 1983-09-06 1985-03-14 Fanuc Ltd Method of preparing numerical control data
WO1986000729A1 (en) * 1984-07-16 1986-01-30 Fanuc Ltd System for correcting position of tool
JPS6126106A (en) * 1984-07-16 1986-02-05 Fanuc Ltd Correcting system of position of tool
JPS63502783A (en) * 1986-02-25 1988-10-13 トラルファ　ロボット　アクチ−セルスカペット Method for program control of work tools and robot equipment
US7283889B2 (en) 2003-02-19 2007-10-16 Fanuc Ltd Numerical control device, and numerical control method
JP2007260757A (en) * 2006-03-30 2007-10-11 Daihen Corp Arc welding robot controller
JP2007275945A (en) * 2006-04-07 2007-10-25 Asahi Glass Co Ltd Molding method for manufacturing molded article of three dimensional free shape, and apparatus therefor
CN117850347A (en) * 2023-12-29 2024-04-09 深圳市软赢科技有限公司 Two-dimensional position comparison method, system, equipment and storage medium for motion control

Also Published As

Publication number Publication date
JPH0222401B2 (en) 1990-05-18

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