To obtain a small, high-precision scalar robot by providing the robot with 1st and 2nd stepping motors for driving 1st and 2nd arms, position detection sensors provided to the driving systems of the respective stepping motors, and a means which inputs signals from the position detection sensors and detects the positions of the driving system.
When the robot is instructed to start operation, a CPU 1 calculates request movement step quantities to stepping motors and outputs commands to the 1st-arm stepping motor 22, 2nd-arm stepping motor 22, R-axis stepping motor 32, Z-axis stepping motor 42, etc. According to those command, the respective stepping motors 12 to 42 are driven and encoders 13, 23, 33, and 43 count actual operation pulses and feed the count values back to the CPU 1. The CPU 1 compares the request movement quantity steps with the actual operation pulse numbers and calculates correction movement quantity according to their difference when they do not match each other. High-precision driving control can be performed through the correction.
SUZUKI SHINJI
MIYAZAWA RIKA
| JPS61273603A | 1986-12-03 | |||
| JPH0492446A | 1992-03-25 | |||
| JPH0740269A | 1995-02-10 | |||
| JPH05318350A | 1993-12-03 | |||
| JPH0717485U | 1995-03-28 | |||
| JPH03277200A | 1991-12-09 | |||
| JPH04358171A | 1992-12-11 |
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