Title:
ROBOT CONTROLLING SYSTEM
Document Type and Number:
Japanese Patent JPS57139821
Kind Code:
A
Abstract:
PURPOSE:To locate and stop a moving part such as a wrist of a robot to an optional command position with high accuracy, even in case of driving a fluid by air pressure, oil pressure, etc., by controlling a solenoid valve for forward turn, reverse turn and deceleration. CONSTITUTION:At every prescribed rotational frequency of an air motor which is not shown in the figure, pulse signals PA, PB are outputted from magnetic sensors 8a, 8b of a sense part 101, and are inputted to a pulse processing circuit 104. A present position counter 105 counts a rotary pulse RP reversibly in accordance with ''1'' and ''0'' of a forward and reverse turn signal NRS from the circuit 104. As a result, contents of the counter 105 show a present position alphaa of a neck of a robot which is not in the figure, and when a difference between said position and a command position alphac becomes equal to the first numerical value, a comparator 108 outputs a control signal DEV for driving a deceleration value, and decelerates the air motor. Subsequently, when said difference decreases and becomes equal to the second numerical value n2, the comparator 108 outputs both a control signal CCWV' for driving the reverse turn and a control signal BRK' for driving a brake, and stops the air motor.
Inventors:
MIYASHITA HIDEO
Application Number:
JP2591181A
Publication Date:
August 30, 1982
Filing Date:
February 24, 1981
Export Citation:
Assignee:
FUJITSU FANUC LTD
International Classes:
B25J9/16; G05B19/23; G05D3/12; (IPC1-7): B25J13/00; G05D3/12