KR940008820A - Driving control device of robot system - Google Patents

Driving control device of robot system Download PDF

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Publication number
KR940008820A
KR940008820A KR1019920018150A KR920018150A KR940008820A KR 940008820 A KR940008820 A KR 940008820A KR 1019920018150 A KR1019920018150 A KR 1019920018150A KR 920018150 A KR920018150 A KR 920018150A KR 940008820 A KR940008820 A KR 940008820A
Authority
KR
South Korea
Prior art keywords
controller
joint
command data
driving
servo motors
Prior art date
Application number
KR1019920018150A
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Korean (ko)
Other versions
KR0161001B1 (en
Inventor
전재욱
Original Assignee
윤종용
삼성전자 주식회사
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.)
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Publication date
Application filed by 윤종용, 삼성전자 주식회사 filed Critical 윤종용
Priority to KR1019920018150A priority Critical patent/KR0161001B1/en
Publication of KR940008820A publication Critical patent/KR940008820A/en
Application granted granted Critical
Publication of KR0161001B1 publication Critical patent/KR0161001B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

본 발명은 하나의 로보트제어기를 이용하여 여러 대의 로보트를 구동하는 로보트시스템의 구동제어장치에 관한 것으로써, 로보트의 전체적인 동작을 제어하는 주제어기와, 상기 주제어기로부터 출력되는 위치명령 데이타를 입력받아 제1 및 제2 로보트에 부착된 제1 및 제2 서보모터를 구동하기 위한 속도명령 데이타로 변환하여 출력해서 관절의 위치를 제어하는 관절위치제어기와, 상기 관절위치제어기로부터 출력되는 속도명령 데이타를 입력받아 상기 제1 및 제2 서보모터의 구동을 제어함과 동시에 상기 제1 및 제2서보모터의 현재 속도 및 위치데이타를 검출해서 상기 위치관절제어기에 피이드백하는 제1 및 제2서보구동 수단으로 이루어진 것을 특징으로 한다.The present invention relates to a drive control apparatus for a robot system that drives a plurality of robots using a single robot controller. The present invention relates to a main controller for controlling the overall operation of the robot and a position command data output from the main controller. Inputs the joint position controller to control the position of the joint by converting and outputting the speed command data for driving the first and second servomotors attached to the first and second robots, and the speed command data output from the joint position controller. First and second servo drive means for controlling the driving of the first and second servo motors and at the same time detecting current speed and position data of the first and second servo motors and feeding back to the position joint controller. Characterized in that made.

Description

로보트시스템의 구동제어장치Driving control device of robot system

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 일실시예에 의한 로보트시스템의 구동제어장치의 개략적인 블록도.1 is a schematic block diagram of a drive control apparatus for a robot system according to an embodiment of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 주제어기 20 : 위치관절제어기10: main controller 20: position joint controller

30 : 서보구동수단 40, 41 : 제1 및 제 2모터30: servo drive means 40, 41: first and second motor

50, 51 : 제 1 및 제 2로보트50, 51: First and second robot

Claims (2)

로보트의 전체적인 동작을 제어하는 주제어기와, 상기 주제어기로부터 출력되는 위치명령 데이타를 입력받아 제1 및 제2로보트에 부착된 제1 및 제2 서보모터를 구동하기 위한 속도명령 데이타로 변환하여 출력해서 관절의 위치를 제어하는 관절위치제어기와, 상기 관절위치제어기로부터 출력되는 속도명령 데이타를 입력받아 상기 제1 및 제2 서보모터의 구동을 제어함과 동시에 상기 제1 및 제2서보모터의 현재 속도 및 위치데이타를 검출해서 상기 위치관절제어기에 피이드백하는 제1 및 제2서보구동수단으로 이루어진 것을 특징으로 하는 로보트시스템의 구동제어장치.It receives the main controller controlling the overall operation of the robot and the position command data outputted from the main controller, converts it into speed command data for driving the first and second servomotors attached to the first and second robots, and outputs them. A joint position controller for controlling the position of the joint and the speed command data output from the joint position controller to control the driving of the first and second servo motors, and at the same time the current speed of the first and second servo motors. And first and second servo drive means for detecting position data and feeding back to the position joint controller. 제1항에 있어서, 상기 제1 및 제2 서보구동수단(30, 31)은 제1 및 제2서보모터(40, 41)의 구동을 각각 제어하는 것을 특징으로 하는 로보트시스템의 구동제어장치.2. A drive control apparatus for a robot system according to claim 1, wherein said first and second servo drive means (30, 31) control driving of the first and second servo motors (40, 41), respectively. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920018150A 1992-10-02 1992-10-02 Driving control device of robot system KR0161001B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920018150A KR0161001B1 (en) 1992-10-02 1992-10-02 Driving control device of robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920018150A KR0161001B1 (en) 1992-10-02 1992-10-02 Driving control device of robot system

Publications (2)

Publication Number Publication Date
KR940008820A true KR940008820A (en) 1994-05-16
KR0161001B1 KR0161001B1 (en) 1998-12-15

Family

ID=19340564

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920018150A KR0161001B1 (en) 1992-10-02 1992-10-02 Driving control device of robot system

Country Status (1)

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KR (1) KR0161001B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101142762B1 (en) * 2009-09-30 2012-05-21 한양대학교 산학협력단 Operating controller of movable robot, operating control method thereof and movable robot system using the same

Also Published As

Publication number Publication date
KR0161001B1 (en) 1998-12-15

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