JPS57139810A - Controlling method of industrial robot and its device - Google Patents

Controlling method of industrial robot and its device

Info

Publication number
JPS57139810A
JPS57139810A JP2457281A JP2457281A JPS57139810A JP S57139810 A JPS57139810 A JP S57139810A JP 2457281 A JP2457281 A JP 2457281A JP 2457281 A JP2457281 A JP 2457281A JP S57139810 A JPS57139810 A JP S57139810A
Authority
JP
Japan
Prior art keywords
speed
operated
switch
setting device
allowable maximum
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
JP2457281A
Other languages
Japanese (ja)
Other versions
JPH0254566B2 (en
Inventor
Yasushi Ihara
Masakazu Kobayashi
Eizo Tsuda
Fumio Noguchi
Keiichi Hokaku
Shigeki Fujinaga
Hirotoshi Yamamoto
Hisahiro Fukuoka
Takahiro Asano
Hideo Koyama
Kengo Kuwabara
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.)
Shinmaywa Industries Ltd
Original Assignee
Shin Meiva Industry 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 Shin Meiva Industry Ltd filed Critical Shin Meiva Industry Ltd
Priority to JP2457281A priority Critical patent/JPS57139810A/en
Publication of JPS57139810A publication Critical patent/JPS57139810A/en
Publication of JPH0254566B2 publication Critical patent/JPH0254566B2/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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To obtain an exact moving locus, by forcibly setting a component velocity exceeding an allowable maximum speed extremely, to the allowable maximum speed, in case when the component velocity of every control shaft of a command speed exceeds the allowable maximum speed, and gradually decreasing the component velocity of other control shaft in the forced ratio. CONSTITUTION:A CPU 3 increases or decreases a command value in accordance with the operating direction of an operated manual switch and a speed set by a speed setting device 111. Subsequently, a moving angle of a welding torch which is not shown in the figure is set to a necessary angle by remote control, a position of a welding point is moved to, for instance, Pk-1 on a weld line WL of a work W, the speed setting device 111 is set to a command speed, and after that, when a switch 103 is operated, contents of a beedback counter 39 of each circuit 351 through 355 are inputted to a memory 33 together with a set value of the setting device 111. In the same way, points Pk, Pk+1and Pk+2 are taught. When a switch 101 is set to an automatic mode and the switch 103 is operated, the torch is operated and welds the weld line WL automatically.
JP2457281A 1981-02-20 1981-02-20 Controlling method of industrial robot and its device Granted JPS57139810A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2457281A JPS57139810A (en) 1981-02-20 1981-02-20 Controlling method of industrial robot and its device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2457281A JPS57139810A (en) 1981-02-20 1981-02-20 Controlling method of industrial robot and its device

Publications (2)

Publication Number Publication Date
JPS57139810A true JPS57139810A (en) 1982-08-30
JPH0254566B2 JPH0254566B2 (en) 1990-11-22

Family

ID=12141875

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2457281A Granted JPS57139810A (en) 1981-02-20 1981-02-20 Controlling method of industrial robot and its device

Country Status (1)

Country Link
JP (1) JPS57139810A (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5927307A (en) * 1982-08-04 1984-02-13 Hitachi Ltd Method and device for controlling path
JPS59163609A (en) * 1983-03-08 1984-09-14 Hitachi Ltd Route interpolating method of robot hand
WO1984004828A1 (en) * 1983-05-26 1984-12-06 Fanuc Ltd Method of controlling industrial robot along arc
JPS60108283A (en) * 1983-11-15 1985-06-13 富士通株式会社 Method of controlling drive of multi-joint type robot
JPS60167003A (en) * 1984-02-10 1985-08-30 Amada Co Ltd Numerical controller provided with speed safety device
JPS6126107A (en) * 1984-07-05 1986-02-05 シーメンス、アチエンゲゼルシヤフト Computer control for multiaxial industrial robot
JPS61138310A (en) * 1984-12-07 1986-06-25 Toyoda Mach Works Ltd Robot controller
JPS61156309A (en) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd Numerically controlled device containing speed difference smoothing function
JPS61255409A (en) * 1985-05-08 1986-11-13 Fuji Electric Co Ltd Control device for positioning double spindle
JPS6380303A (en) * 1986-09-25 1988-04-11 Kobe Steel Ltd Speed control method for industrial robot
WO1991003009A1 (en) * 1989-08-22 1991-03-07 Fanuc Ltd Acceleration/deceleration control method of numeric controller
WO1991003778A1 (en) * 1989-08-29 1991-03-21 Fanuc Ltd Feed speed control method of numeric controller
JPH05197419A (en) * 1990-10-29 1993-08-06 Mitsubishi Electric Corp Controller for robot

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH035606B2 (en) * 1982-08-04 1991-01-28 Hitachi Ltd
JPS5927307A (en) * 1982-08-04 1984-02-13 Hitachi Ltd Method and device for controlling path
JPS59163609A (en) * 1983-03-08 1984-09-14 Hitachi Ltd Route interpolating method of robot hand
WO1984004828A1 (en) * 1983-05-26 1984-12-06 Fanuc Ltd Method of controlling industrial robot along arc
JPS60108283A (en) * 1983-11-15 1985-06-13 富士通株式会社 Method of controlling drive of multi-joint type robot
JPH056686B2 (en) * 1983-11-15 1993-01-27 Fujitsu Ltd
JPS60167003A (en) * 1984-02-10 1985-08-30 Amada Co Ltd Numerical controller provided with speed safety device
JPS6126107A (en) * 1984-07-05 1986-02-05 シーメンス、アチエンゲゼルシヤフト Computer control for multiaxial industrial robot
JPS61138310A (en) * 1984-12-07 1986-06-25 Toyoda Mach Works Ltd Robot controller
JPS61156309A (en) * 1984-12-27 1986-07-16 Toshiba Mach Co Ltd Numerically controlled device containing speed difference smoothing function
JPS61255409A (en) * 1985-05-08 1986-11-13 Fuji Electric Co Ltd Control device for positioning double spindle
JPS6380303A (en) * 1986-09-25 1988-04-11 Kobe Steel Ltd Speed control method for industrial robot
WO1991003009A1 (en) * 1989-08-22 1991-03-07 Fanuc Ltd Acceleration/deceleration control method of numeric controller
WO1991003778A1 (en) * 1989-08-29 1991-03-21 Fanuc Ltd Feed speed control method of numeric controller
JPH05197419A (en) * 1990-10-29 1993-08-06 Mitsubishi Electric Corp Controller for robot

Also Published As

Publication number Publication date
JPH0254566B2 (en) 1990-11-22

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