Title:
CONTROL METHOD FOR VIBRATION OF ROBOT ARM
Document Type and Number:
Japanese Patent JPS62137614
Kind Code:
A
Abstract:
PURPOSE:To suppress the vibration of a robot arm by fitting angle measurement sensors on the robot arm, estimating the mode of the arm from the outputs of the sensors and feeding back said mode. CONSTITUTION:The robot arm 1 is fitted on a drive part 3, and plural angle measurement sensors (light direction sensors) 2a-2c are fitted on the arm 1. ANd a position detection sensor 7 is fitted on the drive part 3. When the arm bends, the angle measurement sensors 2a-2c output sensor signals corresponding to the positions, while the position detection sensor 7 outputs a position detection signal. In terms of said signals, an operating element calculates the feedback torque of the drive part through a signal processing part, and feeds back it to the drive part 3. Here, the vibration of the robot arm in operation can be suppressed, whereby the positioning time of the robot arm 1 can be shortened.
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Inventors:
CHIKUBAYASHI YUZURU
Application Number:
JP27971785A
Publication Date:
June 20, 1987
Filing Date:
December 11, 1985
Export Citation:
Assignee:
NEC CORP
International Classes:
G05D3/12; B25J9/10; B25J9/16; B25J13/00; G05D19/02; (IPC1-7): B25J9/10; B25J13/00; G05D3/12; G05D19/02
Attorney, Agent or Firm:
Uchihara Shin