Title:
DEVICE FOR DETECTING ABNORMALITY OF LOCUS OF ROBOT
Document Type and Number:
Japanese Patent JPS60108904
Kind Code:
A
Abstract:
PURPOSE:To detect the abnormality of locus of a robot easily by comparing a difference value between a position feedback signal of an operation shaft and its correcting operation signal with prescribed upper and lower limit values, and when the difference value exceeds an allowable range, outputting the difference value to a CPU. CONSTITUTION:A robot body having plural operation shafts and respective position detectors 1 and a CPU control device for the robot provided with a storage device and an arithmetic unit are set up. The current position feedback data Xf of the robot are sent from the detector 1 to the CPU2 and an adder/subtractor 10. Position-corrected data XA sent from the CPU2 through a correcting position data operation unit 5 are inputted to the adder/subtractor 10 and the difference DELTAXA=¦Xf-XA¦ is extracted by a comparator 12. Whether the shift of the locus of the robot is abnormal or not is discriminated from the value DELTAXA under control by an output T(v) from a memory 14 storing the allowable upper and lower limit values applied from an arithmetic unit 5.
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Inventors:
AZUMA YOSHIHISA
Application Number:
JP21510483A
Publication Date:
June 14, 1985
Filing Date:
November 17, 1983
Export Citation:
Assignee:
FUJIKOSHI KK
International Classes:
B25J9/16; B25J9/12; B25J9/18; B25J19/06; G05B19/19; G05B19/4063; G05B23/02; (IPC1-7): B25J9/12; B25J9/18; B25J19/06; G05B19/405; G05B23/02
Domestic Patent References:
| JPS54101072A | 1979-08-09 |
Attorney, Agent or Firm:
Junji Kawauchi
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