JPS6442707A - Follow-up speed correcting method - Google Patents
Follow-up speed correcting methodInfo
- Publication number
- JPS6442707A JPS6442707A JP19918487A JP19918487A JPS6442707A JP S6442707 A JPS6442707 A JP S6442707A JP 19918487 A JP19918487 A JP 19918487A JP 19918487 A JP19918487 A JP 19918487A JP S6442707 A JPS6442707 A JP S6442707A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- target value
- sense device
- visual sense
- misalignment quantity
- 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)
Abstract
PURPOSE:To correct a set speed without necessitating a special hardware, by measuring a misalignment quantity at the time of following up, which is generated when there is an error between a set speed of an object and an actual speed, by a visual sense device, calculating a speed error from this misalignment quantity, and resetting the speed. CONSTITUTION:The titled method is applied to a robot system provided with a visual sense device, and a position deviation and a speed deviation are derived from a speed of an object which is set in advance and a position of the object which is measured by the visual sense device, and a position target value and a speed target value of a robot, they are multiplied by a constant, respectively, and that which has added mutually a result of this multiplication is set as an acceleration target value at the next time, and by integrating it, a position target value and a speed target value at the next time are obtained and a track generation is executed. In such a case, the misalignment quantity generated at the time of following up is measured by the visual sense device, and from this misalignment quantity, the constant and the set speed of the object, and actual speed of the object is calculated, and the speed is reset. In such a way, the follow-up accuracy can be improved without adding a special hardware.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19918487A JPS6442707A (en) | 1987-08-11 | 1987-08-11 | Follow-up speed correcting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19918487A JPS6442707A (en) | 1987-08-11 | 1987-08-11 | Follow-up speed correcting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6442707A true JPS6442707A (en) | 1989-02-15 |
Family
ID=16403536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19918487A Pending JPS6442707A (en) | 1987-08-11 | 1987-08-11 | Follow-up speed correcting method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6442707A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653821A (en) * | 2019-10-10 | 2020-01-07 | 上海电气集团股份有限公司 | Control method, system, medium and equipment for mechanical arm |
| WO2023101027A1 (en) * | 2021-12-03 | 2023-06-08 | 川崎重工業株式会社 | Control device for substrate transport robot, and method for controlling joint motor |
-
1987
- 1987-08-11 JP JP19918487A patent/JPS6442707A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653821A (en) * | 2019-10-10 | 2020-01-07 | 上海电气集团股份有限公司 | Control method, system, medium and equipment for mechanical arm |
| WO2023101027A1 (en) * | 2021-12-03 | 2023-06-08 | 川崎重工業株式会社 | Control device for substrate transport robot, and method for controlling joint motor |
| TWI833477B (en) * | 2021-12-03 | 2024-02-21 | 日商川崎重工業股份有限公司 | Control device of substrate transport robot and method of controlling joint motor |
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