Title:
DIGITAL CONTROL DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JPS6344204
Kind Code:
A
Abstract:
PURPOSE:To improve control performance, by varying a sampling time corresponding to the number of moving axes, at the time of calculating the optimum operating quantity at every sampling time based on a mathematical model. CONSTITUTION:The control device of a robot (articulated robot) 1 having a number of degree of freedom is constituted of a digital control device 2 provided with the mathematical model 3 of an arm, the managing part 5 of a control means, and the calculation part 6 of the optimum operating quantity. At this time, a means 7 which sets the sampling time corresponding to the moving axis, and also, the mathematical model 8 corresponding to the sampling time, are generated in the model 3, and are stored in a storage device in advance. In this way, the number of the moving axes are decided after the completion of an operation until the current time is confirmed by a sensor signal, at the time of performing control actually, and the sampling time corresponding to a bearing is selected. And the mathematical model 8 corresponding to a selected time is selected, and the robot 1 is controlled by the time.
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Inventors:
NISHIMOTO KATSUSHI
SEKIGUCHI HIDENORI
YOSHIDA YUTAKA
SEKIGUCHI HIDENORI
YOSHIDA YUTAKA
Application Number:
JP18750586A
Publication Date:
February 25, 1988
Filing Date:
August 08, 1986
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
G05B13/04; G05B17/02; G05B21/02; (IPC1-7): G05B13/04; G05B17/02; G05B21/02
Attorney, Agent or Firm:
Sadaichi Igita