Title:
CONTROL METHOD FOR INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS62163112
Kind Code:
A
Abstract:
PURPOSE:To omit an artificial stopping process even in case a robot has a runaway owing to a wiring mistake and to improve both reliability and safety with the robot control method, by monitoring the deviation of a robot and stopping the drive of the robot when the increase of said deviation is decided. CONSTITUTION:For instance, the plus and minus are connected inversely for the signals sent from a tachogenerator 8 or a potentiometer 9 in a maintenance/ check mode, etc., of a robot. In such a case, the position deviations (b) and the armature current (e) are equal to the sum of the position command value (a) or the speed command voltage (d) and the present value (i) or the speed feedback voltage (f) through an arithmetic part 1 or a motor amplifier 5. This causes a positive feedback state and then robot runaway. Here the position deviation (b) is sent to a CPU11 and is always monitored. Then the robot runaway is decided when the deviation (b) shows an increase trend. Thus the drive of the robot is immediately stopped.
Inventors:
WATANABE MASAJI
Application Number:
JP463686A
Publication Date:
July 18, 1987
Filing Date:
January 13, 1986
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
B25J9/16; B25J13/08; B25J19/06; G05B19/19; (IPC1-7): B25J13/08; B25J19/06; G05B19/405
Attorney, Agent or Firm:
Fujiya Shiga