Title:
PREVENTING METHOD OF GUNSHOT VIBRATION OF ROBOT AT STOPPING
Document Type and Number:
Japanese Patent JPS58223807
Kind Code:
A
Abstract:
PURPOSE:To improve the positioning accuracy of a robot and to ensure a quick shift to the next job, by adding an arithmetic program to an existing signal storage device and therefore eliminating the oscillation component due to a sudden state change when the robot is stopped. CONSTITUTION:The unit impulse signal is previously applied to a robot as a time series data at a stopping time point of standard locus. Then the answer signal of the robot is measured to check the dynamic properties of the robot. The difference between the target signal to give teaching to the robot and its answer signal is calculated from the result of measurement. Then an impulse signal is produced from the dynamic properties of the robot to include a proper amplitude constant and a time lag constant as well as to eliminate the difference. This impulse signal is applied to the target signal as a command signal.
Inventors:
FUJIKAWA TAKESHI
INOUE YOSHIO
MASUDA TERUO
NODA ATSUHIKO
SATOU TAKASHI
INOUE YOSHIO
MASUDA TERUO
NODA ATSUHIKO
SATOU TAKASHI
Application Number:
JP10793582A
Publication Date:
December 26, 1983
Filing Date:
June 22, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
B25J9/16; G05B13/00; G05B13/02; G05B19/19; G05B19/42; (IPC1-7): B25J9/00; B25J13/00; G05B13/02; G05B19/42
Attorney, Agent or Firm:
Aoyama
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