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JPS6484309A - Method for controlling operation of joint type robot - Google Patents

Method for controlling operation of joint type robot

Info

Publication number
JPS6484309A
JPS6484309A JP24072587A JP24072587A JPS6484309A JP S6484309 A JPS6484309 A JP S6484309A JP 24072587 A JP24072587 A JP 24072587A JP 24072587 A JP24072587 A JP 24072587A JP S6484309 A JPS6484309 A JP S6484309A
Authority
JP
Japan
Prior art keywords
teaching point
robot arm
constant speed
tip part
teaching
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
JP24072587A
Other languages
Japanese (ja)
Other versions
JPH06105412B2 (en
Inventor
Minoru Kano
Akinobu Takemoto
Hironao Kamaya
Hiroshi Shinozaki
Ryoichi Hisatomi
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.)
Hitachi Ltd
Original Assignee
Hitachi 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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP62240725A priority Critical patent/JPH06105412B2/en
Publication of JPS6484309A publication Critical patent/JPS6484309A/en
Publication of JPH06105412B2 publication Critical patent/JPH06105412B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To continuously move the tip part of a robot arm without repeating acceleration-constant speed-deceleration-stop in each teaching point by moving the tip part along a smooth circular arc in the vicinity of each teaching point. CONSTITUTION:The robot arm moves on a straight line constituted of two teaching points at a constant speed other than a corner part of a teaching point Pi, and in the vicinity of a specially fixed teaching point Pi, moves virtually on a straight line constituted of two teaching points at a constant speed, but a practical route is mapped on an inscribed circle, the robot arm is specified so as to move on the inscribed circle. Thereby, the tip part of the robot arm is moved while drawing a smooth locus without stopping in the vicinity of an especially fixed teaching point. Consequently, the tip part can be continuously moved without repeating acceleration constant speed deceleration stop in each teaching point P and proper speed characteristics can be applied so that excess load can not be applied to the robot arm at the time of passing a teaching point Pi.
JP62240725A 1987-09-28 1987-09-28 Motion control method for articulated robot Expired - Lifetime JPH06105412B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62240725A JPH06105412B2 (en) 1987-09-28 1987-09-28 Motion control method for articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62240725A JPH06105412B2 (en) 1987-09-28 1987-09-28 Motion control method for articulated robot

Publications (2)

Publication Number Publication Date
JPS6484309A true JPS6484309A (en) 1989-03-29
JPH06105412B2 JPH06105412B2 (en) 1994-12-21

Family

ID=17063773

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62240725A Expired - Lifetime JPH06105412B2 (en) 1987-09-28 1987-09-28 Motion control method for articulated robot

Country Status (1)

Country Link
JP (1) JPH06105412B2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04353906A (en) * 1991-05-30 1992-12-08 Mitsutoyo Corp Movement controller for mobile object
US5187141A (en) * 1990-08-24 1993-02-16 Jha Mahesh C Process for the manufacture of activated carbon from coal by mild gasification and hydrogenation
JPH0553638A (en) * 1991-08-28 1993-03-05 Matsushita Electric Ind Co Ltd Multi-articulation robot control method
JPH06180605A (en) * 1992-10-16 1994-06-28 Makino Milling Mach Co Ltd Method and device for fast-forwarding control of machine tool
JP2005234862A (en) * 2004-02-19 2005-09-02 Hitachi Industrial Equipment Systems Co Ltd Motion controller device
JP2010092142A (en) * 2008-10-06 2010-04-22 Mori Seiki Co Ltd Automatic programming device and controller for nc machine equipped with the same
JP2014104558A (en) * 2012-11-29 2014-06-09 Daihen Corp Controlling device
CN110977932A (en) * 2018-10-03 2020-04-10 发那科株式会社 Robot teaching device, robot teaching method and method for storing motion commands

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62164114A (en) * 1986-01-16 1987-07-20 Hitachi Ltd Robot with speed interpolation function

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62164114A (en) * 1986-01-16 1987-07-20 Hitachi Ltd Robot with speed interpolation function

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5187141A (en) * 1990-08-24 1993-02-16 Jha Mahesh C Process for the manufacture of activated carbon from coal by mild gasification and hydrogenation
JPH04353906A (en) * 1991-05-30 1992-12-08 Mitsutoyo Corp Movement controller for mobile object
JPH0553638A (en) * 1991-08-28 1993-03-05 Matsushita Electric Ind Co Ltd Multi-articulation robot control method
JPH06180605A (en) * 1992-10-16 1994-06-28 Makino Milling Mach Co Ltd Method and device for fast-forwarding control of machine tool
JP2005234862A (en) * 2004-02-19 2005-09-02 Hitachi Industrial Equipment Systems Co Ltd Motion controller device
JP2010092142A (en) * 2008-10-06 2010-04-22 Mori Seiki Co Ltd Automatic programming device and controller for nc machine equipped with the same
JP2014104558A (en) * 2012-11-29 2014-06-09 Daihen Corp Controlling device
CN110977932A (en) * 2018-10-03 2020-04-10 发那科株式会社 Robot teaching device, robot teaching method and method for storing motion commands

Also Published As

Publication number Publication date
JPH06105412B2 (en) 1994-12-21

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