Title:
ACTION CONTROL SYSTEM FOR INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPH01116704
Kind Code:
A
Abstract:
PURPOSE:To prevent an emergency stop and a shift dislocated from an teaching shift locus from generating by decreasing a shift instruction quantity per unit time when the output torques of plural motors are respectively detected, and the output torques, which approximates the maximum output of the motor, exist >=1. CONSTITUTION:After the operation program of a robot is taught through a teaching operation plate 13 or a tape reader 15, when the robot is operated, an NC device 1 controls the robot according to a shift instruction, a speed instruction set at a teaching action program and a set override value. In such a case, when at least one driving axis, in which the output torque of the motor approximates to the maximum output torque of the motor, exists, the value of the shift instruction quantity per a unit time is decreased, the pulse dividing quantity of all the driving axes is equally decreased, a deviation value is minimized, and the output torque is prevented from being the maximum output torque. Thus, even when a load is large, the robot locus can be secured as instructed without increasing the deviation value or without stopping the motions of the robot.
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Inventors:
TORII NOBUTOSHI
NIHEI AKIRA
KIKUCHI JUN
NIHEI AKIRA
KIKUCHI JUN
Application Number:
JP27345987A
Publication Date:
May 09, 1989
Filing Date:
October 30, 1987
Export Citation:
Assignee:
FANUC LTD
International Classes:
H02P29/00; B25J9/16; B25J9/18; G05B19/4062; G05B19/416; (IPC1-7): B25J9/16; G05B19/407; H02P5/00
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)
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