JPS575110A - Control system for track of industrial robot or the like - Google Patents
Control system for track of industrial robot or the likeInfo
- Publication number
- JPS575110A JPS575110A JP7911480A JP7911480A JPS575110A JP S575110 A JPS575110 A JP S575110A JP 7911480 A JP7911480 A JP 7911480A JP 7911480 A JP7911480 A JP 7911480A JP S575110 A JPS575110 A JP S575110A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- movement
- deltal
- interval
- desired values
- 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
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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34101—Data compression, look ahead segment calculation, max segment lenght
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39002—Move tip of arm on straight line
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 reduce an allowable deviation from an ideal straight line, obtained by interpolation at every movement point to be interpolated, into an allowable range, by providing the allowable deviation and by setting each interpolation interval of interpolating calculation to a value equal to or less than the deviation. CONSTITUTION:In a manipulator on a three-axis spherical system, desired values of each point, to which a movement is made, on the gamma-axis, phi-axis and theta-axis, an interpolating interval DELTAL, control information, etc., are stored in a storage device 12 from a console panel 2. For a movement between two points stored in the device 12 at the interval DELTAL by linear interpolation, desired values on the spherical coordinate system are found by a processor 1. Current values of each position detected by gamma-axis, phi-axis and theta-axis position detectors 5, 8 and 11 are fed back to the processor 1 to output deviations from the desired values to output converters 3, 6 and 9 respectively, and driving shafts 4, 7 and 10 operate independently to attain the desired values. In this case, so that an allowable deviation DELTAl from an ideal linear movement path is greater than or equal to the DELTAL, the interpolating interval is stored in the device 12 at every movement point and the movement track of each driving shaft is controlled. Consequently, a high-precision track control system is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7911480A JPS575110A (en) | 1980-06-13 | 1980-06-13 | Control system for track of industrial robot or the like |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7911480A JPS575110A (en) | 1980-06-13 | 1980-06-13 | Control system for track of industrial robot or the like |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS575110A true JPS575110A (en) | 1982-01-11 |
| JPS6160447B2 JPS6160447B2 (en) | 1986-12-20 |
Family
ID=13680878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7911480A Granted JPS575110A (en) | 1980-06-13 | 1980-06-13 | Control system for track of industrial robot or the like |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS575110A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0732299A1 (en) * | 1995-03-13 | 1996-09-18 | MANNESMANN Aktiengesellschaft | Jib guidance method for a crane with a rocking jib |
| CN113093716A (en) * | 2019-12-19 | 2021-07-09 | 广州极飞科技股份有限公司 | Motion trail planning method, device, equipment and storage medium |
| CN117549316A (en) * | 2024-01-12 | 2024-02-13 | 唐山先河智能机器有限公司 | Multi-axis mechanical arm control method and master-slave control system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03106650U (en) * | 1990-02-17 | 1991-11-05 |
-
1980
- 1980-06-13 JP JP7911480A patent/JPS575110A/en active Granted
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0732299A1 (en) * | 1995-03-13 | 1996-09-18 | MANNESMANN Aktiengesellschaft | Jib guidance method for a crane with a rocking jib |
| CN113093716A (en) * | 2019-12-19 | 2021-07-09 | 广州极飞科技股份有限公司 | Motion trail planning method, device, equipment and storage medium |
| CN113093716B (en) * | 2019-12-19 | 2024-04-30 | 广州极飞科技股份有限公司 | Motion trail planning method, device, equipment and storage medium |
| CN117549316A (en) * | 2024-01-12 | 2024-02-13 | 唐山先河智能机器有限公司 | Multi-axis mechanical arm control method and master-slave control system |
| CN117549316B (en) * | 2024-01-12 | 2024-03-12 | 唐山先河智能机器有限公司 | Multi-axis mechanical arm control method and master-slave control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6160447B2 (en) | 1986-12-20 |
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