Title:
METHOD OF CONTROLLING INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/1993/022107
Kind Code:
A1
Abstract:
A method of controlling an industrial robot, wherein vibrations and out-of-path of the forward end of a tool can be prevented when the tool mounted to the forward end of a movable arm is moved along a taught path, and a working position and an attitude of the forward end of the tool can be accurately and smoothly controlled to specified ones. The controlling method comprises the steps of: comparing a moving time (Tm) required for the forward end of the tool to move at a taught moving speed (VT) between preset two taught points (P1, P2) with the maximum value (T1) obtained from respective moving times of respective articulated shafts of the movable arm, which are obtained from moving amounts and limit speeds of the respective articulated shafts of the movable arm between the above-described taught points, before having the robot execute a moving command; recalculating a taught speed in accordance with which of the former and the latter moving times is longer; and executing the moving command by use of the recalculated taught speed (V), so as to limit the moving speed of the forward end of the tool.
Inventors:
NOSE MATSUO (JP)
Application Number:
PCT/JP1992/000533
Publication Date:
November 11, 1993
Filing Date:
April 23, 1992
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
NOSE MATSUO (JP)
NOSE MATSUO (JP)
International Classes:
B25J9/16; B25J9/18; (IPC1-7): B25J9/10; B25J13/00
Foreign References:
| JPS62162109A | 1987-07-18 | |||
| JPS60220408A | 1985-11-05 | |||
| JPH01230105A | 1989-09-13 | |||
| JPS584377A | 1983-01-11 | |||
| JPS60193015A | 1985-10-01 | |||
| JPS62194513A | 1987-08-27 |
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