Title:
ROBOT CONTROLLER
Document Type and Number:
Japanese Patent JPH01255015
Kind Code:
A
Abstract:
PURPOSE:To prevent a work, a hand, and a motor from being damaged by providing a gain switching part to output a switching command signal to switch the gains of a position, a speed, and a current control parts at need. CONSTITUTION:A gain switching command signal is attached on the position control part 5, the speed control part 6, and the current control part 7 simultaneously, respectively, and locking rigidity can be reduced by lowering respective gain. The gain switching command signal is outputted from a gain switching part (not shown in figure) assembled in a controller. The gain switching part outputs the command signal based on whether the hand is moved from a main controller or a spot gun 3 is grasped with the hand. Therefore, when it is moved, that is, when it is required to increase the torque of the motor, the gain of the motor 8 is switched to a high level, and when the work 2 is performed at a teaching point, it is switched so as to be decreased appropriately, and a state where no overload is applied on the work 2, the hand, and the motor 8 is generated, thereby, it is possible to prevent them from being damaged.
Inventors:
SUENAGA EIJI
Application Number:
JP8325688A
Publication Date:
October 11, 1989
Filing Date:
April 05, 1988
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
B25J9/16; B23K11/24; G05D3/12; (IPC1-7): B23K11/24; B25J9/16; G05D3/12
Attorney, Agent or Firm:
Masuo Oiwa (2 outside)