Title:
CONTROLLING METHOD OF INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS59220806
Kind Code:
A
Abstract:
PURPOSE:To shorten an arithmetic time and to realize precise track control by calculating and storing the inertia and gravitational torque at an operation teaching point of a robot in a memory, and compensating parameters of each axis servo system on the basis of the data when the robot is operated. CONSTITUTION:A robot controller 2 is connected to a teaching box 3 and provided with the arithmetic processing circuit consisting of a microprocessor 201, RAM202, ROM203, memory 205 for teaching data storage, etc. The output of a processing circuit is applied to a D/A converter 207 through an interface circuit 206 and converted into an analog signal, which is applied to a system that controls a servo system for each axis which consists of a position control circuit 208, speed control circuit 209, current control circuit 210, etc. When the robot is taught operation from the box 3, the inertia and gravitational torque at an operation teaching point are stored in the memory 205 and parameters of each servo system are compensated on the basis of the stored data to shorten the arithmetic time of a processor 201.
Inventors:
KUBO KENJI
OOMAE TSUTOMU
OOMAE TSUTOMU
Application Number:
JP9418783A
Publication Date:
December 12, 1984
Filing Date:
May 30, 1983
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05D3/12; B25J9/16; B25J9/22; G05B19/42; (IPC1-7): G05B19/42; B25J13/00; G05D3/12
Attorney, Agent or Firm:
Katsuo Ogawa (2 outside)