JPS6411773A - Method of controlling industrial robot - Google Patents
Method of controlling industrial robotInfo
- Publication number
- JPS6411773A JPS6411773A JP16848487A JP16848487A JPS6411773A JP S6411773 A JPS6411773 A JP S6411773A JP 16848487 A JP16848487 A JP 16848487A JP 16848487 A JP16848487 A JP 16848487A JP S6411773 A JPS6411773 A JP S6411773A
- Authority
- JP
- Japan
- Prior art keywords
- control
- robot
- attitude
- parameters
- kci
- 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
- Numerical Control (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
Abstract
PURPOSE: To make precise position, attitude, and path control and to shorten the computation time of parameters by compensating the control parameter of axis servo system based on the computation equation obtained experimentally and analytically in advance from the position data of a link mechanism when a robot is operated. CONSTITUTION: The optimum control parameter Kci of each axis servo system is calculated by an arithmetic processing circuit 5 based on the computation equation obtained experimentally and analytically in advance from the rotation angles θ1 -θ3 of first through third axis links. The calculated control parameters Kci are used as the control parameters of a control system 4 and are multiplied by the difference between the instruction rotation angle αi and the presence rotation angle θi to obtain the control input e<i> , and the control input e<i> is fed to an actuator driving circuit 6 in the next stage. The control input e<i> thus obtained invariably reflects the changes of moment of inertia J1 -J3 and gravitational torque Tg<1> -Tg<3> due to the attitude changes when a robot is operated, thereby the precise positioning/attitude control performance and path control performance of the robot can be obtained.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16848487A JPS6411773A (en) | 1987-07-06 | 1987-07-06 | Method of controlling industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16848487A JPS6411773A (en) | 1987-07-06 | 1987-07-06 | Method of controlling industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6411773A true JPS6411773A (en) | 1989-01-17 |
Family
ID=15868947
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP16848487A Pending JPS6411773A (en) | 1987-07-06 | 1987-07-06 | Method of controlling industrial robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6411773A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1142576A (en) * | 1997-07-28 | 1999-02-16 | Matsushita Electric Ind Co Ltd | Control method and device for robot |
JP2017056558A (en) * | 2017-01-06 | 2017-03-23 | セイコーエプソン株式会社 | robot |
US10399222B2 (en) | 2012-08-31 | 2019-09-03 | Seiko Epson Corporation | Robot |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6190207A (en) * | 1984-10-09 | 1986-05-08 | Omron Tateisi Electronics Co | Robot controlling device |
JPS61163406A (en) * | 1985-01-14 | 1986-07-24 | Omron Tateisi Electronics Co | Robot control device |
JPS61248104A (en) * | 1985-04-26 | 1986-11-05 | Nissan Motor Co Ltd | Manipulator controlling device |
-
1987
- 1987-07-06 JP JP16848487A patent/JPS6411773A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6190207A (en) * | 1984-10-09 | 1986-05-08 | Omron Tateisi Electronics Co | Robot controlling device |
JPS61163406A (en) * | 1985-01-14 | 1986-07-24 | Omron Tateisi Electronics Co | Robot control device |
JPS61248104A (en) * | 1985-04-26 | 1986-11-05 | Nissan Motor Co Ltd | Manipulator controlling device |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1142576A (en) * | 1997-07-28 | 1999-02-16 | Matsushita Electric Ind Co Ltd | Control method and device for robot |
US10399222B2 (en) | 2012-08-31 | 2019-09-03 | Seiko Epson Corporation | Robot |
US11090805B2 (en) | 2012-08-31 | 2021-08-17 | Seiko Epson Corporation | Robot |
JP2017056558A (en) * | 2017-01-06 | 2017-03-23 | セイコーエプソン株式会社 | robot |
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