Title:
TEACHING METHOD OF PRODUCT PROCESSOR
Document Type and Number:
Japanese Patent JPS60189511
Kind Code:
A
Abstract:
PURPOSE:To enable an operator to shift a hand with a small amount of power with high efficiency and high accuracy by shifting a robot arm through a power control part after detecting the power applied to the hand. CONSTITUTION:An operator gives first an indication through an operation panel 10 for a memory command of the hand position when a hand 4 is set at its start point. When receiving said indication, a processor 12 reads the present position of the hand 4 out of a position detecting circuit 14 and stores it in a memory 11. Then the operator holds the hand 4 and applies power to the hand 4 to move it. The power applied to the hand 4 is detected by a sensor 5 and sent to a power control part 15. The part 15 decomposes said power into power components of each shaft and produces following commands PFx-PFz to send them to an arm drive circuit 16. The circuit 16 gives the servo control to the drive source of each shaft to make these drive source follow the hand movement of the operator. When the hand 4 reaches a desired point, the operator releases the hand 4 and operates the panel 10 to store the hand position in the memory 11. Hereafter the robot actions are taught successively in the same way.
Inventors:
ONDA NOBUHIKO
ASAKAWA KAZUO
AKITA TADASHI
KOMORIYA HITOSHI
KAMATA TOORU
ASAKAWA KAZUO
AKITA TADASHI
KOMORIYA HITOSHI
KAMATA TOORU
Application Number:
JP4504584A
Publication Date:
September 27, 1985
Filing Date:
March 09, 1984
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
B25J9/22; B25J13/02; G05B19/42; G05B19/423; (IPC1-7): B25J9/22; B25J13/02; G05B19/42
Domestic Patent References:
| JPS5314281A | 1978-02-08 | |||
| JPS5685106A | 1981-07-11 | |||
| JPS5856784A | 1983-04-04 | |||
| JPS5112560A | 1976-01-31 | |||
| JPS5127265A | 1976-03-06 | |||
| JPS5714909A | 1982-01-26 |
Attorney, Agent or Firm:
Akira Yamatani