Title:
CONTROLLING METHOD OF INSTRUCTING AND REPRODUCING TYPE ROBOT
Document Type and Number:
Japanese Patent JPS5858610
Kind Code:
A
Abstract:
PURPOSE:To realize desired positioning accuracy even in case of a microcomputer, by giving an interruption command to a control and operating means from the outside by a timer means, and executing a servocontrol preferentially before processing of coordinate conversion, etc. CONSTITUTION:A position of a straight line or a curve is derived at every period Tc of a time longer than a calculating time of coordinate conversion, a joint angle of each shaft of a robot, which has been derived is divided into N(N=Tc/ Ts), and a target position required for servocontrol is calculated. Subsequently, the angle of each shaft of the robot, which has been divided into N is set to the target position, and servocontrol is executed at every period Ts. From the inside, an interruption signal is inputted at every Ts second by an interval timer TM, and when a CPU receives this interruption signal, if processing which is being executed at present exists, it is halted, and it holds until a halt release command is inputted. When the CPU is executing no processing operation, processing (= servocontrol) based on the interruption signal is executed.
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Inventors:
GOTOU AKIYOSHI
TANIGUCHI SATORU
AKATSUKA MUNETOO
TANIGUCHI SATORU
AKATSUKA MUNETOO
Application Number:
JP15677081A
Publication Date:
April 07, 1983
Filing Date:
September 30, 1981
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
B25J9/16; G05B19/19; G05B19/42; (IPC1-7): B25J9/00
Domestic Patent References:
| JPS49134059A | 1974-12-24 | |||
| JPS5352883A | 1978-05-13 |
Attorney, Agent or Firm:
Aoyama