Title:
ACTION CONTROLLER FOR MULTI-JOINT ROBOT
Document Type and Number:
Japanese Patent JPH0212307
Kind Code:
A
Abstract:
PURPOSE:To improve the track accuracy by performing the signal processing for a multi-axial control system where the signals of the real joint angles of not only its own axis but other axes are taken into a feedback system in case a track project requires the track accuracy. CONSTITUTION:A connection switch means 31 receives the output of a track project means 2 and performs the input connection of the feedback signal to an arithmetic means 32 at its own axis and other axis sides when the track accuracy is required and otherwise at its own axis side only in accordance with the difference of track accuracy of a track project. Thus the input connection of the feedback signals can be switched for the real joint angles of joints J1-J3 respectively between a multi-axial control system with the track accuracy required and the uniaxial control system with no track accuracy required respectively. Thus it is possible to avoid the increase of the arithmetic time and at the same time to secure the accurate track control.
Inventors:
OKA HITOSHI
Application Number:
JP16135188A
Publication Date:
January 17, 1990
Filing Date:
June 29, 1988
Export Citation:
Assignee:
DAIKIN IND LTD
International Classes:
B25J9/16; B25J13/08; G05B19/18; G05B19/19; (IPC1-7): B25J9/16; B25J13/08; G05B19/18; G05B19/19
Attorney, Agent or Firm:
Hiroshi Maeda (1 person outside)
Next Patent: JPH0212308