Title:
CONTROLLER FOR FLEXIBLE-ARM ROBOT
Document Type and Number:
Japanese Patent JPS63260776
Kind Code:
A
Abstract:
An actuator gives bending motion to flexible arms comprising many discs serially stacked in mutual contact, each disc having an outwardly bent surface. The control apparatus comprises a main operation unit which performs various operations upon receipt of operation signals from an operator panel unit to produce operation instruction signals for each of the degrees of freedom of flexible arms. A servo control unit produces respective control signals for a number of hydraulic actuators for operating the first actuator in response to operation instruction signals from the main operation unit. An operational force detector senses the operational force of the first actuator, and a position detector senses the motion of the first actuator. A feedback inputs the present position of the first actuator to an arithmetic unit of the servo control unit in response to detected signals.
Inventors:
YAMAMOTO YUICHI
HIRANO NOBORU
SHIRAE TAKASHI
HIRANO NOBORU
SHIRAE TAKASHI
Application Number:
JP9337187A
Publication Date:
October 27, 1988
Filing Date:
April 17, 1987
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
B25J9/16; B25J18/06; G05B19/18; G05B19/19; G05B19/42; (IPC1-7): B25J9/16; G05B19/18; G05B19/42
Attorney, Agent or Firm:
Yonehara Masaaki