Title:
POSITIONING CONTROLLER
Document Type and Number:
Japanese Patent JPS61809
Kind Code:
A
Abstract:
PURPOSE:To eliminate the waste time to reset to an original point in an original state as well as a contact with an obstacle, by reading the count value of the pulse train signals of a pulse processing circuit to recognize discretely and then detecting a zero-phase signal to obtain a detailed position. CONSTITUTION:In a robot initial mode a positioning control part 4 sends an action command to a motor 1 in a single direction and sends a reset signal and a set signal to a counter 10 with the change of the 1st and 2nd signals of a position detector 9 respectively. The counter 10 counts the pulse train signals of a pulse processing circuit 3. Then the part 4 reads the count value xn of the counter 10 to know the present position of a robot arm. Then a motor 1 is reversed to detect the zero-phase signal of the circuit 3 between the counter reset and set signals used by the counter 10. Thus the part 4 can know the detailed present position of the robot arm.
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Inventors:
TETSUYA TAKABUMI
Application Number:
JP12134084A
Publication Date:
January 06, 1986
Filing Date:
June 13, 1984
Export Citation:
Assignee:
MATSUSHITA ELECTRIC IND CO LTD
International Classes:
G05D3/12; B25J9/10; B25J9/16; B25J13/00; G05B19/18; (IPC1-7): B25J9/10; B25J13/00; G05B19/18; G05D3/20
Attorney, Agent or Firm:
Toshio Nakao