Title:
METHOD AND DEVICE FOR POSITIONING ROBOT MOVING PART
Document Type and Number:
Japanese Patent JP3147254
Kind Code:
B2
Abstract:
PURPOSE: To provide a positioning device enabling accurate positioning even by means of coarse position information.
CONSTITUTION: A positioning device is provided with a servo motor 101 to move the hand mechanism of a robot and worked to position a robot hand mechanism through controlling the moving position, the moving speed, and the drive current of the servo motor 101. Coarse position information in a target position and current value data, by means of which the servo motor 101 is driven, are inputted from the outside. The positioning device is provided with speed error detecting circuits 13 and 4, position error detecting circuits 2 and 204, a monitoring circuit 20 to detect the moving state of the hand mechanism, and a current control circuit 8 to perform control of a current amount based on current value data so that a hand mechanism is positioned in a target position based on the coarse position information. When it is detected by a monitoring circuit 20 that movement of a hand mechanism by means of a positioning control circuit is approximate zero, a drive pass to the motor 101 is switched from the positioning control circuit to a current control circuit.
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Inventors:
Taketo Yamaguchi
Katsumi Ishihara
Katsumi Ishihara
Application Number:
JP26490792A
Publication Date:
March 19, 2001
Filing Date:
October 02, 1992
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J9/10; B25J9/16; G05D3/12; (IPC1-7): B25J9/10
Domestic Patent References:
| JP63144975A | ||||
| JP61283903A |
Attorney, Agent or Firm:
Yasunori Otsuka (1 person outside)