Title:
METHOD FOR CONTROLLING OPERATION OF ROBOT ARM
Document Type and Number:
Japanese Patent JPS6470801
Kind Code:
A
Abstract:
PURPOSE:To easily and conveniently teach the operation of a robot arm by interrupting the operation of the robot arm exceeding its operation limit at the time of teaching a position and softly decelerating the robot arm in proportion to approach to the operation limit point. CONSTITUTION:A control device 1 has a teaching means 14 including an operation switch or the like for manually operating a robot and commanding the robot to operate in accordance with with operating procedure stored in an operating procedure storing means 17. A robot body 2 receiving a PWM command outputted from an arithmetic means 15 is driven through a PWM signal generating circuit 11 and a power circuit 12 and its rotating position is fed back through a pulse counter 13 for counting up encoder pulses. When an operation button is continuously depressed, the robot arm is properly accelerated from a current position to an operation enabled limit position to operate the robot arm, and at the time of releasing the operation button, the robot arm is decelerated gradually from the pint of time to stop the robot arm.
Inventors:
KANO MINORU
TAKEMOTO AKINOBU
KAMAYA HIRONAO
HISATOMI RYOICHI
TAKEMOTO AKINOBU
KAMAYA HIRONAO
HISATOMI RYOICHI
Application Number:
JP22638087A
Publication Date:
March 16, 1989
Filing Date:
September 11, 1987
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05B19/19; G05B19/42; (IPC1-7): G05B19/405
Domestic Patent References:
| JPS6140612A | 1986-02-26 | |||
| JPS58219610A | 1983-12-21 |
Attorney, Agent or Firm:
Katsuo Ogawa (1 person outside)