JPS57113112A - Control system for robot - Google Patents

Control system for robot

Info

Publication number
JPS57113112A
JPS57113112A JP18788780A JP18788780A JPS57113112A JP S57113112 A JPS57113112 A JP S57113112A JP 18788780 A JP18788780 A JP 18788780A JP 18788780 A JP18788780 A JP 18788780A JP S57113112 A JPS57113112 A JP S57113112A
Authority
JP
Japan
Prior art keywords
counter
speed
value
joint angle
generation part
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
JP18788780A
Other languages
Japanese (ja)
Other versions
JPS6246003B2 (en
Inventor
Tsugito Maruyama
Susumu Kawakami
Takashi Uchiyama
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.)
Fujitsu Ltd
Original Assignee
Fujitsu 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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP18788780A priority Critical patent/JPS57113112A/en
Publication of JPS57113112A publication Critical patent/JPS57113112A/en
Publication of JPS6246003B2 publication Critical patent/JPS6246003B2/ja
Granted legal-status Critical Current

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
    • G05B19/416—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 control of velocity, acceleration or deceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To fine the speed and angular speed of a body to be controlled at each position by the deviation of movement positions at a next target position and the current movement position, by providing a feedback loop which feeds information on the current movement position of the body to be controlled back to a speed generation part. CONSTITUTION:An arithmetic processor 1 outputs a joint angle thetaK+1 at each sampling point to a speed-indication-value generation part 2 on the basis of a transition curve from a starting point X0 to an ending point XN, and when a rotation-speed indication value generated by a current-position value theta'K by an encoder position counter 8 is greater than the counter value of an incorporated counter, pulses from the counter are outputted by a function generation part 3 for the rotation-speed indication value and processed by D/A conversion, thereby outputting the result to a V/F converter 5. Then, a motor driving circuit 7 is controlled by a position control part 10 so that the position deviation of a joint angle thetaK obtained by counting a digital signal from the converter 5 by a comparison-position counter 6 and the joint angle theta'K from the counter 8 is zero.
JP18788780A 1980-12-29 1980-12-29 Control system for robot Granted JPS57113112A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18788780A JPS57113112A (en) 1980-12-29 1980-12-29 Control system for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18788780A JPS57113112A (en) 1980-12-29 1980-12-29 Control system for robot

Publications (2)

Publication Number Publication Date
JPS57113112A true JPS57113112A (en) 1982-07-14
JPS6246003B2 JPS6246003B2 (en) 1987-09-30

Family

ID=16213925

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18788780A Granted JPS57113112A (en) 1980-12-29 1980-12-29 Control system for robot

Country Status (1)

Country Link
JP (1) JPS57113112A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58177287A (en) * 1982-04-05 1983-10-17 株式会社日立製作所 Control system of robot
JPS59124587A (en) * 1982-12-29 1984-07-18 富士通株式会社 Controller for speed of manipulator
WO2014016991A1 (en) * 2012-07-24 2014-01-30 日本電気株式会社 Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62113701U (en) * 1986-01-09 1987-07-20
JPH0517921Y2 (en) * 1987-07-31 1993-05-13
JPH0421282Y2 (en) * 1987-08-24 1992-05-15

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58177287A (en) * 1982-04-05 1983-10-17 株式会社日立製作所 Control system of robot
JPH0413108B2 (en) * 1982-04-05 1992-03-06 Hitachi Ltd
JPS59124587A (en) * 1982-12-29 1984-07-18 富士通株式会社 Controller for speed of manipulator
JPH0520235B2 (en) * 1982-12-29 1993-03-18 Fujitsu Ltd
WO2014016991A1 (en) * 2012-07-24 2014-01-30 日本電気株式会社 Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein
US9278766B2 (en) 2012-07-24 2016-03-08 Nec Corporation Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein
JP5910748B2 (en) * 2012-07-24 2016-04-27 日本電気株式会社 Orbit generation apparatus, orbit generation method, and orbit generation program

Also Published As

Publication number Publication date
JPS6246003B2 (en) 1987-09-30

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