Title:
INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPH01161502
Kind Code:
A
Abstract:
PURPOSE:To miniaturize the capacity of a memory for storing correction data and, at the same time, to make the error of a reproducing locus effectively converge with a less number of reproducing times by additionally providing a sampling means, delaying means, coefficient arithmetic means, and adder means. CONSTITUTION:A sampling means 10 samples error signals which can be regarded as continuous in time to discrete signals at every sampling period TS. The signal of the sampling means 10 is inputted to a delaying means 11. The delaying means is composed of delaying devices 11-1-11-n which delay the signal of the means 10 by the same time as the period TS and are connected in series. Outputs from the means 10 and delaying devices 11-1-11-n are respectively inputted to coefficient computing elements 12-0-12-n when the outputs are multiplied by fixed coefficients. Outputs of the calculators 12-0-12-n are added to each other by means of an adder means 13 and the adding result of the adder means 13 is supplied to a correction data arithmetic means 5.
Inventors:
UCHIUMI NORIYUKI
Application Number:
JP32029587A
Publication Date:
June 26, 1989
Filing Date:
December 18, 1987
Export Citation:
Assignee:
TOKICO LTD
International Classes:
B25J9/22; B25J9/10; G05B19/18; G05B19/404; G05B19/4155; G05B19/42; (IPC1-7): B25J9/10; B25J9/22; G05B19/18; G05B19/42
Attorney, Agent or Firm:
Masatake Shiga (2 outside)