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JPS6412309A - Robot controller - Google Patents

Robot controller

Info

Publication number
JPS6412309A
JPS6412309A JP16686187A JP16686187A JPS6412309A JP S6412309 A JPS6412309 A JP S6412309A JP 16686187 A JP16686187 A JP 16686187A JP 16686187 A JP16686187 A JP 16686187A JP S6412309 A JPS6412309 A JP S6412309A
Authority
JP
Japan
Prior art keywords
torque
robot
line
comparator
finger tip
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
JP16686187A
Other languages
Japanese (ja)
Inventor
Hideaki Hashimoto
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.)
Toshiba Corp
Original Assignee
Toshiba Corp
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 Toshiba Corp filed Critical Toshiba Corp
Priority to JP16686187A priority Critical patent/JPS6412309A/en
Publication of JPS6412309A publication Critical patent/JPS6412309A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To realize the efficient work of a robot, by switching respective control means based on the position signal and the torque signal of a finger tip, and selecting a position control system or a torque control system corresponding to the interference of an object of work. CONSTITUTION:A CPU (host device) 2 which computes and outputs a position command value theta1, a velocity command value V1, and a torque command value T1 to the finger tip of the robot is provided. Also, the host device 2 is equipped with the function of a switching means. Also, a position detector 9 which detects the position, etc., of the finger tip of the robot, a speed detector 10, and a torque detector 11 are provided, and a driving motor 7 and its driver 8 are provided for the robot 1, and also, a velocity command line 16 and a torque command line switched by change-over switches 14-15 are provided. And a position comparator 3, a position control compensator 4, a speed comparator 5, and a velocity control compensator 6 are provided in the line 16, and a torque comparator 12 and a compensator 13 are provided in the line 17, and the robot is controlled by the torque signal at an operating area where the interference occurs.
JP16686187A 1987-07-06 1987-07-06 Robot controller Pending JPS6412309A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16686187A JPS6412309A (en) 1987-07-06 1987-07-06 Robot controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16686187A JPS6412309A (en) 1987-07-06 1987-07-06 Robot controller

Publications (1)

Publication Number Publication Date
JPS6412309A true JPS6412309A (en) 1989-01-17

Family

ID=15839000

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16686187A Pending JPS6412309A (en) 1987-07-06 1987-07-06 Robot controller

Country Status (1)

Country Link
JP (1) JPS6412309A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02247703A (en) * 1989-03-20 1990-10-03 Fujitsu Ltd Robot control device with force control function
JPH03251376A (en) * 1990-02-28 1991-11-08 Fujitsu Ltd Control device
WO2013084927A1 (en) * 2011-12-07 2013-06-13 株式会社シンク・ラボラトリー Single-motor-driven gravure cylinder chuck mechanism
WO2018180099A1 (en) * 2017-03-29 2018-10-04 株式会社Ｋｏｋｕｓａｉ Ｅｌｅｃｔｒｉｃ Substrate transfer unit, substrate processing device, and method for manufacturing semiconductor device
CN110026984A (en) * 2019-05-08 2019-07-19 苏州东控自动化科技有限公司 A kind of smart collaboration control method based on large power output machine device people
JP2019162694A (en) * 2018-03-20 2019-09-26 ユニパルス株式会社 Parallel link robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5755413A (en) * 1980-09-19 1982-04-02 Fanuc Ltd Industrial robot having control function of electrically driven motor current
JPS60256816A (en) * 1984-06-04 1985-12-18 Komatsu Ltd Servo control method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5755413A (en) * 1980-09-19 1982-04-02 Fanuc Ltd Industrial robot having control function of electrically driven motor current
JPS60256816A (en) * 1984-06-04 1985-12-18 Komatsu Ltd Servo control method

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02247703A (en) * 1989-03-20 1990-10-03 Fujitsu Ltd Robot control device with force control function
JPH03251376A (en) * 1990-02-28 1991-11-08 Fujitsu Ltd Control device
WO2013084927A1 (en) * 2011-12-07 2013-06-13 株式会社シンク・ラボラトリー Single-motor-driven gravure cylinder chuck mechanism
JPWO2013084927A1 (en) * 2011-12-07 2015-04-27 株式会社シンク・ラボラトリー Single motor drive gravure cylinder chuck mechanism
US9199443B2 (en) 2011-12-07 2015-12-01 Think Laboratory Co., Ltd. Single motor-driven gravure cylinder chuck mechanism
WO2018180099A1 (en) * 2017-03-29 2018-10-04 株式会社Ｋｏｋｕｓａｉ Ｅｌｅｃｔｒｉｃ Substrate transfer unit, substrate processing device, and method for manufacturing semiconductor device
JPWO2018180099A1 (en) * 2017-03-29 2019-11-07 株式会社Ｋｏｋｕｓａｉ Ｅｌｅｃｔｒｉｃ Substrate transfer unit, substrate processing apparatus, and semiconductor device manufacturing method
US10847397B2 (en) 2017-03-29 2020-11-24 Kokusai Electric Corporation Substrate transfer unit, and substrate processing apparatus
JP2019162694A (en) * 2018-03-20 2019-09-26 ユニパルス株式会社 Parallel link robot
CN110026984A (en) * 2019-05-08 2019-07-19 苏州东控自动化科技有限公司 A kind of smart collaboration control method based on large power output machine device people

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