Title:
FOLLOW-UP CONTROL SYSTEM FOR ROBOT HAVING RUNNING AXIS
Document Type and Number:
Japanese Patent JPS6299808
Kind Code:
A
Abstract:
PURPOSE:To prevent the deterioration of follow-up accuracy secured at the tip of a robot by defining the follow-up deviation between a running axis and a line as the robot deviation set in the direction of the running axis and control ling and correcting the joint axis of the robot main body. CONSTITUTION:A robot arithmetic part 2 calculates the shift angle of each axis of the robot main body from the follow-up deviation of the robot and also performs the deviation processing and the command calculation. Based on this command, a motor driver 3 for each axis drives each motor 4 of a robot main body driving part A. While a running axis arithmetic part 8 performs the calculation of shift amount of the drive shaft as well as the devia tion processing and the command calculation of the running axis. Based on this command, a motor driver 9 drives a motor 10 of a drive shaft driving part B. Thus the running axis performs the rough follow-up drive in response to the line average speed and the follow-up deviation obtained from said rough follow-up drive between the running axis shaft and a line is fed back to the robot main body and corrected by each axis of the robot in the form of a robot deviation of the component in the direction of the running axis.
Inventors:
HIDESHIMA KEIJI
KOBAYASHI TAKESHI
KOBAYASHI TAKESHI
Application Number:
JP23765485A
Publication Date:
May 09, 1987
Filing Date:
October 25, 1985
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
B25J9/16; B25J9/10; G05B19/18; G05B19/404; (IPC1-7): B25J9/10; G05B19/18
Attorney, Agent or Firm:
Mikio Hatta (1 outside)