KR850001852A - 로보트의 동작 제어장치 - Google Patents
로보트의 동작 제어장치 Download PDFInfo
- Publication number
- KR850001852A KR850001852A KR1019840005212A KR840005212A KR850001852A KR 850001852 A KR850001852 A KR 850001852A KR 1019840005212 A KR1019840005212 A KR 1019840005212A KR 840005212 A KR840005212 A KR 840005212A KR 850001852 A KR850001852 A KR 850001852A
- Authority
- KR
- South Korea
- Prior art keywords
- stepping motor
- control unit
- robot
- motion controller
- robot motion
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/40—Open loop systems, e.g. using stepping motor
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33337—For each axis a processor, microprocessor
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Stepping Motors (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
내용 없음
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명을 이용한 스칼라형 로보트의 외관도. 제3도는 A,B는 본 로보트의 제1축 구동용 모오터의 토오크 대회전수 곡선, 제5도는 펄스 모오터를 가감속 제어시켰을 때의 회전수대 시간곡선.
Claims (3)
- 제어부와 이 제어부로 부터 출력에 의해 구동되는 구동부를 구비하고, 그 구동부로 부터 출력에 의해 아암을 점에서 이동 제어하는 로보트의 제어 장치에 있어서, 상기 아암의 각축마다 상기 구동부와 이 구동부에 의해서 여자되는 스텝핑 모우터가 마련됨과 동시에 상기 구동부마다 제어부가 마련되고, 상기 제어부는 스텝핑 모오터의 저속역에서는 상기 모오터를 1-2상 여자 하고, 스텝핑모오터중, 고속역에서는 상기 모오터를 2상 여자를 행하는 것을 특징으로 하는 로보트의 동작 제어 장치.
- 상기 스텝핑 모오터는 각각 적어도 1개의 수평 아암의 축과, 상기 수평 아암에 연결하는 수직 아암의 축을 구동하는 것을 특징으로 하는 특허 청구의 범위 제1항 기재의 로버트 제어장치.
- 상기 스텝핑 모오터가 2상 스텝핑 모오터인 것을 특징으로 하는 특허 청구의 범위 제1항 기재의 로보트의 제어장치.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58-156242 | 1983-08-29 | ||
JP58156242A JPS6051500A (ja) | 1983-08-29 | 1983-08-29 | ロボットの動作制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR850001852A true KR850001852A (ko) | 1985-04-10 |
Family
ID=15623478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019840005212A KR850001852A (ko) | 1983-08-29 | 1984-08-27 | 로보트의 동작 제어장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US4567418A (ko) |
EP (1) | EP0135772B1 (ko) |
JP (1) | JPS6051500A (ko) |
KR (1) | KR850001852A (ko) |
DE (1) | DE3469858D1 (ko) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61240897A (ja) * | 1985-04-16 | 1986-10-27 | Canon Inc | ステツプモ−タ駆動装置 |
JPS6281995A (ja) * | 1985-10-04 | 1987-04-15 | Alps Electric Co Ltd | パルスモ−タの駆動制御方式 |
JPS6389096A (ja) * | 1986-10-02 | 1988-04-20 | Oki Electric Ind Co Ltd | ステツプモ−タの駆動制御方法 |
JPH01177898A (ja) * | 1987-12-29 | 1989-07-14 | Toto Ltd | ステッピングモータの駆動装置 |
WO1993009018A1 (en) * | 1991-11-05 | 1993-05-13 | Seiko Epson Corporation | Micro-robot |
US5545963A (en) * | 1993-04-01 | 1996-08-13 | Canon Denshi Kabushiki Kaisha | Seek method and apparatus |
JPH07319542A (ja) * | 1994-05-30 | 1995-12-08 | Minolta Co Ltd | 自走式作業車 |
GB2292026B (en) * | 1994-07-22 | 1999-02-10 | Delco Electronic Overseas Corp | Stepper motor circuit and method of operating a stepper motor |
DE102004007558B4 (de) * | 2004-02-17 | 2012-06-21 | Josef Moser | Bewegungseinrichtung mit sinusförmigen Bewegungsablauf |
WO2007020008A2 (de) * | 2005-08-16 | 2007-02-22 | Josef Moser | Bewegungseinrichtung mit doppelseitigem saugbalken |
JP2013116023A (ja) * | 2011-12-01 | 2013-06-10 | Fuji Xerox Co Ltd | 駆動伝達系、後処理装置および画像形成装置 |
JP6008121B2 (ja) * | 2013-01-28 | 2016-10-19 | セイコーエプソン株式会社 | ロボットおよびロボット制御装置 |
JP2016129448A (ja) * | 2015-01-09 | 2016-07-14 | オリンパス株式会社 | モータ駆動回路、モータの駆動方法、及びモータ駆動のためのプログラム |
WO2016174971A1 (ja) * | 2015-04-27 | 2016-11-03 | 日立工機株式会社 | 電動工具 |
JP6458689B2 (ja) * | 2015-09-10 | 2019-01-30 | 株式会社デンソー | モータ制御装置 |
US10933525B2 (en) * | 2018-07-04 | 2021-03-02 | Fanuc Corporation | Horizontal articulated robot |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3260375A (en) * | 1963-01-14 | 1966-07-12 | Jerome H Lemelson | Adjustable manipulator |
US3991355A (en) * | 1974-02-22 | 1976-11-09 | Xerox Corporation | Stepper motor control |
US3983468A (en) * | 1974-12-30 | 1976-09-28 | Burroughs Corporation | Motor drive system including a feedback loop |
US4230067A (en) * | 1977-09-17 | 1980-10-28 | Hitachi, Ltd. | Liquid applying apparatus |
CH617559GA3 (ko) * | 1977-12-29 | 1980-06-13 | ||
GB2107903B (en) * | 1981-09-23 | 1985-07-17 | Copperweld Robotics Inc | Mechanical handling apparatus |
JPS58154398A (ja) * | 1982-03-08 | 1983-09-13 | Fuji Xerox Co Ltd | ステツプモ−タの励磁回路 |
-
1983
- 1983-08-29 JP JP58156242A patent/JPS6051500A/ja active Pending
-
1984
- 1984-08-14 DE DE8484109677T patent/DE3469858D1/de not_active Expired
- 1984-08-14 EP EP84109677A patent/EP0135772B1/en not_active Expired
- 1984-08-15 US US06/640,884 patent/US4567418A/en not_active Expired - Fee Related
- 1984-08-27 KR KR1019840005212A patent/KR850001852A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
EP0135772A3 (en) | 1985-05-02 |
EP0135772B1 (en) | 1988-03-16 |
EP0135772A2 (en) | 1985-04-03 |
JPS6051500A (ja) | 1985-03-22 |
US4567418A (en) | 1986-01-28 |
DE3469858D1 (en) | 1988-04-21 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
WITN | Application deemed withdrawn, e.g. because no request for examination was filed or no examination fee was paid |