Title:
CONTROLLER OF INDUCTIRAL ROBOT
Document Type and Number:
Japanese Patent JPH06262559
Kind Code:
A
Abstract:
PURPOSE: To make an accurate speed signal securable even if such one as being low in resolution is used for an encoder to be connected to an arm driving motor of an industrial robot.
CONSTITUTION: An encoder 8 is connected to a motor 6 driving an arm, and a speed signal ω0 is calculated from a current signal (i) flowing in this motor 6, a speed of the encoder 8 and a nominal value Jn in the moment of inertia of motor shaft conversion. ω0=∫1/Jn[Ktn.i-G-(ω0-ωe)]dt. Where, Ktn: nominal value Jtno of torque constant of motor G: proportional gain or proportion + integral gain.
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Inventors:
KIMURA KATSUMI
Application Number:
JP5207793A
Publication Date:
September 20, 1994
Filing Date:
March 12, 1993
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
B25J9/10; B25J13/00; (IPC1-7): B25J9/10; B25J13/00
Attorney, Agent or Firm:
Shinichi Kusano