Title:
CONTROLLER FOR TRAVELING BODY
Document Type and Number:
Japanese Patent JPS5595110
Kind Code:
A
Abstract:
PURPOSE:To reduce damage by releasing a traveling body from a collision state by detecting the collision of the traveling body by a few sensors and then by correcting the set point of a servo system to a position slightly behind the collision detection position. CONSTITUTION:A signal from acceleration sensor 11 fitted on arm 1 of a manipulator is compared by comparator 14 with a reference value without error detection to drive FF15. Error amplifier 23 of the servo system is supplied with a set-point signal after passing through analog switches 21 and 22 and a feedback signal from position detector 26 of manipulator arm 1. Analog switches 34 and 35, controlled by the outputs of comparators 32 and 33 applied with positive and negative fine voltages to judge the sign of the output of error amplifier 23, hold the set point of the servo system at a position slightly behind the collision point.
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Inventors:
FUJII MASAAKI
Application Number:
JP133579A
Publication Date:
July 19, 1980
Filing Date:
January 12, 1979
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B23K9/12; B25J9/16; B25J19/06; F16P7/00; G05B19/19; G05D1/02; G05D3/00; (IPC1-7): B25J9/00; F16P7/00; G05B9/00; G05B19/18; G05D1/00; G05D3/12
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