JPS6467605A - Conveyor synchronous control method for robot - Google Patents
Conveyor synchronous control method for robotInfo
- Publication number
- JPS6467605A JPS6467605A JP22588187A JP22588187A JPS6467605A JP S6467605 A JPS6467605 A JP S6467605A JP 22588187 A JP22588187 A JP 22588187A JP 22588187 A JP22588187 A JP 22588187A JP S6467605 A JPS6467605 A JP S6467605A
- Authority
- JP
- Japan
- Prior art keywords
- conveyor
- robot
- value
- shift value
- data
- 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
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Abstract
PURPOSE:To realize the control of a conveyor with high follow-up performance to the fluctuation of the conveyor speed by correcting the real shift value for each calculation of an interpolation point. CONSTITUTION:The working point data is obtained when a serial interface 16 points the working point of a work put on a conveyor displayed on a screen of a monitor TV 11 by means of a stylus pen of a digitizer 12. With input of said working point data, a CPU 17 transforms this data into the target coordinates of a robot 23 by the prescribed coordinate transformation. At the same time, a parallel interface 21 supplies the data on a position converter 26 that delivers the present value of each axis of the robot 23 in the absolute value. A U/D counter 20 gives the addition/subtraction to the output pulse of a conveyor encoder 24 which detects the shift value of the conveyor. The CPU 17 calculates the count value of the counter 20 to obtain the shift value of the conveyor. A D/A converter 19 corrects the shift value of the conveyor and outputs the manipulated variable obtained from the difference the interpolation point of each axis obtained by giving correction to the conveyor shift value and the present value of each axis to a servo driver 22 as a speed command. Thus the smooth actuation is ensured for the robot 23.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22588187A JPS6467605A (en) | 1987-09-09 | 1987-09-09 | Conveyor synchronous control method for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22588187A JPS6467605A (en) | 1987-09-09 | 1987-09-09 | Conveyor synchronous control method for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6467605A true JPS6467605A (en) | 1989-03-14 |
Family
ID=16836324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22588187A Pending JPS6467605A (en) | 1987-09-09 | 1987-09-09 | Conveyor synchronous control method for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6467605A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4121531A1 (en) * | 1990-06-29 | 1992-01-02 | Mitsubishi Electric Corp | Motion control system for machine tool - uses position correcting delays to be used to modify cycle |
| JPH0863214A (en) * | 1994-08-25 | 1996-03-08 | Fanuc Ltd | Visual tracking method |
| CN111496798A (en) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | Robot conveyor belt tracking method, equipment and storage device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59225405A (en) * | 1983-06-03 | 1984-12-18 | Fanuc Ltd | Method for forming robot command program |
| JPS60176108A (en) * | 1984-02-22 | 1985-09-10 | Hitachi Ltd | External synchronism operation correcting system |
| JPS60237505A (en) * | 1984-05-09 | 1985-11-26 | Fanuc Ltd | Robot control method |
| JPS62108314A (en) * | 1985-11-07 | 1987-05-19 | Mitsubishi Electric Corp | Off-line programming device for robot |
-
1987
- 1987-09-09 JP JP22588187A patent/JPS6467605A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59225405A (en) * | 1983-06-03 | 1984-12-18 | Fanuc Ltd | Method for forming robot command program |
| JPS60176108A (en) * | 1984-02-22 | 1985-09-10 | Hitachi Ltd | External synchronism operation correcting system |
| JPS60237505A (en) * | 1984-05-09 | 1985-11-26 | Fanuc Ltd | Robot control method |
| JPS62108314A (en) * | 1985-11-07 | 1987-05-19 | Mitsubishi Electric Corp | Off-line programming device for robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4121531A1 (en) * | 1990-06-29 | 1992-01-02 | Mitsubishi Electric Corp | Motion control system for machine tool - uses position correcting delays to be used to modify cycle |
| JPH0460809A (en) * | 1990-06-29 | 1992-02-26 | Mitsubishi Electric Corp | Motion controller and its synchronous control method |
| US5521830A (en) * | 1990-06-29 | 1996-05-28 | Mitsubishi Denki Kabushi Kaisha | Motion controller and synchronous control process therefor |
| DE4121531C2 (en) * | 1990-06-29 | 2000-05-31 | Mitsubishi Electric Corp | Motion control device |
| JPH0863214A (en) * | 1994-08-25 | 1996-03-08 | Fanuc Ltd | Visual tracking method |
| CN111496798A (en) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | Robot conveyor belt tracking method, equipment and storage device |
| CN111496798B (en) * | 2020-05-18 | 2022-06-14 | 北京配天技术有限公司 | Robot conveyor belt tracking method, equipment and storage device |
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