Title:
ROBOT CONTROLLER
Document Type and Number:
Japanese Patent JPS6412309
Kind Code:
A
Abstract:
PURPOSE:To realize the efficient work of a robot, by switching respective control means based on the position signal and the torque signal of a finger tip, and selecting a position control system or a torque control system corresponding to the interference of an object of work. CONSTITUTION:A CPU (host device) 2 which computes and outputs a position command value theta1, a velocity command value V1, and a torque command value T1 to the finger tip of the robot is provided. Also, the host device 2 is equipped with the function of a switching means. Also, a position detector 9 which detects the position, etc., of the finger tip of the robot, a speed detector 10, and a torque detector 11 are provided, and a driving motor 7 and its driver 8 are provided for the robot 1, and also, a velocity command line 16 and a torque command line switched by change-over switches 14-15 are provided. And a position comparator 3, a position control compensator 4, a speed comparator 5, and a velocity control compensator 6 are provided in the line 16, and a torque comparator 12 and a compensator 13 are provided in the line 17, and the robot is controlled by the torque signal at an operating area where the interference occurs.
More Like This:
Inventors:
HASHIMOTO HIDEAKI
Application Number:
JP16686187A
Publication Date:
January 17, 1989
Filing Date:
July 06, 1987
Export Citation:
Assignee:
TOSHIBA CORP
International Classes:
B25J13/08; B25J9/16; B25J19/06; G05B19/19; (IPC1-7): B25J9/16; B25J13/08; B25J19/06; G05B19/405
Domestic Patent References:
| JPS5755413A | 1982-04-02 | |||
| JPS60256816A | 1985-12-18 |
Attorney, Agent or Firm:
Yasuo Miyoshi