Title:
SYNCHRONOUS OPERATION METHOD
Document Type and Number:
Japanese Patent JPH01312611
Kind Code:
A
Abstract:
PURPOSE:To avoid the increase of signal lines at the time of synchronously operating plural devices and to eliminate the number of the devices and restriction on disposition by substantially operating plural devices at the speed without transmitting and receiving synchronizing signals between the devices. CONSTITUTION:All the arms of a robot 20 can simultaneously be shifted by a partial moving quantity DELTAln which a command C2 instructs by executing the command C2 at every short time DELTAt. Consequently, all the arms can reach final objective positions by moving them together at the substantially same speed by an objective moving quantity (l), and deformation in the move of a work whose respective parts are supported by the arms can be prevented. Since plural arms can synchronously be operated without transmitting and receiving the synchronizing signals between intelligent amplifiers 15, it is unnecessary to increase the signal lines, and restriction on the disposition of the intelligent amplifiers controlling the number of the arms which are synchronously operated and the operation can be eliminated.
Inventors:
YAZAKI KAZUHIKO
ONO HIROYUKI
ONO HIROYUKI
Application Number:
JP14347788A
Publication Date:
December 18, 1989
Filing Date:
June 13, 1988
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
G05D3/00; (IPC1-7): G05D3/00
Attorney, Agent or Firm:
Akihide Sugimura (1 outside)
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