JPS62178091U - - Google Patents
Info
- Publication number
- JPS62178091U JPS62178091U JP6451286U JP6451286U JPS62178091U JP S62178091 U JPS62178091 U JP S62178091U JP 6451286 U JP6451286 U JP 6451286U JP 6451286 U JP6451286 U JP 6451286U JP S62178091 U JPS62178091 U JP S62178091U
- Authority
- JP
- Japan
- Prior art keywords
- control device
- movement commands
- elbow
- articulated robot
- elbow movement
- 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
Links
Landscapes
- Numerical Control (AREA)
Description
第１図および第２図は本考案の多関節形ロボツ
トの制御装置の一実施例を説明するための全体の
構成図およびブロツク図、第３図〜第５図はいず
れもロボツト本体の動作を説明するための図、第
６図は第１、第２図の制御装置の機能を説明する
ためのフローチヤート、第７図は従来の多関節ロ
ボツトの制御装置の一例を示すブロツク図、第８
図および第９図はそれぞれ第１図の多関節ロボツ
トの動作を説明するための図である。
１……ロボツト制御装置、１１……ジヨイステ
イツク速度指令発生器、１２……手先速度指令計
算部、１３……各軸位置指令計算部、１４……各
軸位置信号発生器、１５……ひじ移動指令発生器
、２……サーボアンプ装置、３……ロボツト本体
。
Figures 1 and 2 are overall configuration diagrams and block diagrams for explaining one embodiment of the control device for an articulated robot according to the present invention, and Figures 3 to 5 each illustrate the operation of the robot body. FIG. 6 is a flowchart for explaining the functions of the control device in FIGS. 1 and 2, FIG. 7 is a block diagram showing an example of a conventional control device for an articulated robot, and FIG.
9 and 9 are diagrams for explaining the operation of the articulated robot shown in FIG. 1, respectively. DESCRIPTION OF SYMBOLS 1... Robot control device, 11... Joy stake speed command generator, 12... Hand speed command calculation section, 13... Each axis position command calculation section, 14... Each axis position signal generator, 15... Elbow movement Command generator, 2... servo amplifier device, 3... robot body.
Claims (1)
標系での移動指令に読み換え、かつ特異点近傍で
演算が発散しないよう特定関節角の値を適当な値
に置き換える手段を有した多関節形ロボツトの制
御装置。 An articulated robot that is equipped with an elbow movement mode, that converts elbow movement commands into movement commands in the wrist coordinate system, and that has means for replacing specific joint angle values with appropriate values so that calculations do not diverge near singular points. control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6451286U JPS62178091U (en) | 1986-04-28 | 1986-04-28 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6451286U JPS62178091U (en) | 1986-04-28 | 1986-04-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62178091U true JPS62178091U (en) | 1987-11-12 |
Family
ID=30900736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6451286U Pending JPS62178091U (en) | 1986-04-28 | 1986-04-28 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62178091U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010201592A (en) * | 2009-03-05 | 2010-09-16 | Kobe Steel Ltd | Method for generating operation route for robot |
-
1986
- 1986-04-28 JP JP6451286U patent/JPS62178091U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010201592A (en) * | 2009-03-05 | 2010-09-16 | Kobe Steel Ltd | Method for generating operation route for robot |
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