Title:
CONTROL DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JP3797450
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To prevent the damage to an apparatus and a security risk by rocking a motor so that a position detector can detect a position change when the detection of an abnormality is specified while a robot is in an operational state and has no position information change, and judging the situation as abnormal if the position information is not changed when the torque instruction value exceeds a predetermined value.
SOLUTION: A rock instruction generator 9 is provided in the front of a calculating stage of a position drift, the position instruction from a position instruction unit 1 is inputted to the input terminal 91 of the instruction generator 9, and the mode of the present state is inputted to an input terminal 92 from a control system. The position correction quantity for rotating a motor 5 in the positive or negative direction is added to the position instruction by the rock instruction from an output terminal 90. The motor 5 might not be rotated by a slight position correction quantity, thus the position correction quantity is generated until the motor 5 is operated, the position correction quantity is outputted in the opposite direction after the motor 5 is operated to surely reciprocate the motor 5. When an abnormality is detected, a brake can be immediately applied to the robot driving motor 5 to stop it in emergency.
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Inventors:
Toshiyuki Kurebayashi
Kazunobu Makishima
Kazunobu Makishima
Application Number:
JP27516397A
Publication Date:
July 19, 2006
Filing Date:
September 22, 1997
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B25J13/00; B25J19/06; (IPC1-7): B25J19/06; B25J13/00
Domestic Patent References:
| JP5265526A |