Title:
INSTRUCTING AND REPRODUCING METHOD OF MULTI-JOINT TYPE PTP ROBOT
Document Type and Number:
Japanese Patent JPS59108109
Kind Code:
A
Abstract:
PURPOSE:To attain high speed reproducing operation in a multi-joint type PTP robot executing coordinate conversion processing at the instruction and reproduction by temporally reproducing the robot at the low speed of the calculation period of the robot and storing the positional information of the driving device side. CONSTITUTION:In the instruction process of a robot 1, an object 11 to be painted on a conveyer 10 is set up, and a movement indicating button on a remote operation board 20 is depressed and the positionally changed variable of the tip end of an arm and the changed variable of a wrist 5 are indicated and sent to an adder 21. After the addition, the positional information is sent to a reverse coordinate converter 23 and then sent to the succeeding comparator 24 as a joint angle objective value of each arm or the like. The comparator 24 actuates a position detector 25 so that the difference with a current position is make ''0'', inputs the position detecting output of each free degree and the output value is converted by a coordinate converter 22 and then stored in a memory 26. After repeating the process, interpolation is executed at positions equally divided by the temporary reproducing process by the low speed operation and positioning due to temporary reproduction is executed and stored to execute actual reproducing operation successively at the high speed operation.
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Inventors:
SHIMIZU KATSUHIKO
Application Number:
JP21904782A
Publication Date:
June 22, 1984
Filing Date:
December 13, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
G05B19/42; G05B19/418; (IPC1-7): B25J13/00; G05B19/42
Attorney, Agent or Firm:
Takeo Honjo