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Title:
HAND MOVING METHOD FOR ROBOT
Document Type and Number:
Japanese Patent JPS63229505
Kind Code:
A
Abstract:
PURPOSE:To avoid such a case where a robot hand has vibrations or the hand moving speed exceeds its limit level by changing continuously and monotonously the hand moving speed component at a certain point. CONSTITUTION:When a start point P1, an intermediate point P2 and an end point P3 are given to an input register 18 from an input device, a nearby point production means 19 calculates a circular arc drawn centering on the point P2 with a minute radius and the intersecting points (a) and (b) between segments P1P2 and P2P3 as nearby points. A 1st speed production part 20 obtains these bits of point information P1, P3, (a) and (b) and produces the speeds V between the segment P1 serving as a 1st track and the point (a) as well as the point (b) serving as a 3rd track and the segment P2 for each component Vx and Vy as a function of the time (t). Then a 2nd speed production means 22 decides the speed V of a 2nd track part for each component Vx and Vy as a function of the time (t) in order to secure the smooth connection between the speeds of the 1st and 3rd track parts set by the means 20.

Inventors:
YASUTOMI FUMIO
TANIGUCHI ETSUO
MATSUHASHI TOSHIHIKO
Application Number:
JP6474887A
Publication Date:
September 26, 1988
Filing Date:
March 19, 1987
Export Citation:
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Assignee:
SANYO ELECTRIC CO LTD
International Classes:
B25J9/16; G05B19/416; (IPC1-7): B25J9/16; G05B19/407