Title:
OPERATION CONTROLLER FOR ARTICULATED ROBOT
Document Type and Number:
Japanese Patent JPH02302807
Kind Code:
A
Abstract:
PURPOSE:To compensate gravity load or disturbance such as interference from other joints by learning the contents of the preceding control and to improve the accuracy of operation by storing respective control signals generated in respective trials at the time of repeating the same operation and synchronously adding the current control signal to the succeeding one. CONSTITUTION:A servo mechanism Gi is driven by a control means 51 based upon a target joint angle signal thetadi outputted from a target joint angle signal output means 1 and controlled so that the locus of the chip of an arm A coincides with that of an objective hand. In this case, a series of control signals outputted from a signal switching means 17 to drive the servo mechanism Gi at the time of each operation are stored by a storing means 52 and synchronously added to the current control signal by an adding means 23 as the preceding series of control signals. Consequently, gravity load or disturbance to be repeatedly generated such as interference from the motor of another joint can be compensated, a delay time due to acceleration/deceleration can be reduced and the locus accuracy can be improved.
Inventors:
KAWADA KENICHI
WATABE TORU
WATABE TORU
Application Number:
JP12761289A
Publication Date:
December 14, 1990
Filing Date:
May 17, 1989
Export Citation:
Assignee:
DAIKIN IND LTD
International Classes:
B25J13/00; G05D3/12; (IPC1-7): B25J13/00; G05D3/12
Attorney, Agent or Firm:
Hiroshi Maeda (2 outside)