Title:
SYSTEM FOR CORRECTING ROUTE ERROR OF ROBOT
Document Type and Number:
Japanese Patent JPS61157909
Kind Code:
A
Abstract:
PURPOSE:To minimize a delay time and to approach easily a robot locus to a desired route by deciding the timing when an operation is shifted to an acceleration control operated by a speed command to a next command position in accordance with the number of built-in pulses after the deceleration of a feed speed. CONSTITUTION:An acceleration/deceleration circuit 1 starts its deceleration when a residual moving amount from an interpolating circuit 2 is fed back and a deceleration speed corresponding to the feed speed is equal to said amount. Whenever an output pulse Fj is generated from the circuit 1, the circuit 2 executes the pulse distribution and arithmetic based on moving amount data to generate distribution pulses Xp and Yp, drives servo motors 41 and 42 through servo circuits 31 and 32, detects a command pulse remaining amount at deceleration, specifies the start timing of the distribution pulse arithmetic in a next moving route with the aid of the detected remaining amount and a parameter (a) for specifying a built-in amount, and adds a command pulse for adding the feed speed in accordance with the command speed F and the command position to that at deceleration.
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Inventors:
KISHI HAJIME
SAKAKIBARA SHINSUKE
ITO TAKAYUKI
KARAKAMA TATSUO
SAKAKIBARA SHINSUKE
ITO TAKAYUKI
KARAKAMA TATSUO
Application Number:
JP27838584A
Publication Date:
July 17, 1986
Filing Date:
December 29, 1984
Export Citation:
Assignee:
FANUC LTD
International Classes:
G02B7/28; B25J9/10; B25J9/16; B25J9/18; B25J13/00; G05B19/18; G05B19/404; G05B19/416; G11B7/09; (IPC1-7): B25J9/10; B25J13/00; G05B19/18
Domestic Patent References:
| JPS58211211A | 1983-12-08 | |||
| JPS5936811A | 1984-02-29 |
Attorney, Agent or Firm:
Minoru Tsuji
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