Title:
CONTROL SYSTEM OF ROBOT
Document Type and Number:
Japanese Patent JPS603010
Kind Code:
A
Abstract:
PURPOSE:To realize the flexible control system of a robot which performs various operations without tool replacement by providing a means which increases the flexibility of the robot in terms of software. CONSTITUTION:The means which increases the flexibility of the robot in terms of software is provided. For example, a force sensor 13 is fitted atop of the wrist 12d of the robot consisting of a swivel table 12a, upper arm 12b, front arm 12c, wrist 12d, etc. to detect the force applied to the robot 12, and the current position of the robot 12 is detected through an encoder, etc., coupled with motors, etc., for driving respective arm members 12a-12d of the robot 12. The detected position theta, force Fv, etc., of the robot 12 are inputted to a controller consisting of a microprocessor, arithmetic part, etc., and command values of a position xr, force Fc, etc., are inputted from a console panel, etc., to the controller. Then, the controller outputs the command value of the articulation angular velocity theta of the robot 12 to a servoamplifier to operate the robot 12.
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| JPH0399307 | SERVO CONTROL CIRCUIT |
| JPH07170775 | METHOD AND APPARATUS FOR CONTROLLING MOTOR FOR POSITIONING MECHANISM |
| JPS5544621 | MULTIPLE CONTROL DEVICE |
Inventors:
SUGIMOTO KOUICHI
HIRABAYASHI HISAAKI
ARAI SHINICHI
SAKAGAMI MUNEYUKI
HIRABAYASHI HISAAKI
ARAI SHINICHI
SAKAGAMI MUNEYUKI
Application Number:
JP10917183A
Publication Date:
January 09, 1985
Filing Date:
June 20, 1983
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05D3/12; B25J9/10; B25J9/16; B25J9/18; B25J13/00; B25J13/08; B25J17/02; (IPC1-7): G05D3/12; B25J9/18; B25J13/00
Domestic Patent References:
| JPS5689493A | 1981-07-20 | |||
| JPS5810484A | 1983-01-21 | |||
| JPS59705A | 1984-01-05 | |||
| JPS5165478A | 1976-06-07 |
Attorney, Agent or Firm:
Katsuo Ogawa
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