METHOD AND APPARATUS FOR CONTROLLING INDUSTRIAL ROBOT

WIPO Patent Application WO/1982/001428

A1

A method of and an apparatus for controlling an industrial robot having: a pulse distribution circuit (19) for calculating the pulse distribution on the basis of position command data of instruction data to generate distribution pulses (Zp), a pulse coder (24) for generating a feedback pulse (FP) every time the robot moves a predetermined distance in a Z-axis direction, an error register (20) for storing the number of distribution pulses and the number of feedback pulses, and position control means (21, 22) for controlling the position of the robot, for correcting the deflection amount (Alpha)Z of the arm occuring when the robot holds a workpiece having a weight w. The apparatus includes a memory (11) for storing the deflection amount (Alpha)Zo of the arm when the arm having a length (Alpha)Zo holds a workpiece having a predetermined weight WO, an arithmetic circuit (12) for calculating the deflection amount (Alpha)Z when the arm having a length 1o holds a workpiece having a weight W from (Alpha)Zo, 1o, Wo, 1 and W, and an adding circuit (18) for adding the Z-axis incremental movement command amount Zd and the deflection amount (Alpha)Z to produce an output to the circuit (19) and correct the positional error due to the deflection by producing the distribution pulse corresponding to the amount (Zd + (Alpha)Z) via the circuit (19).

SAKAKIBARA SHINSUKE (JP)
INABA HAJIMU (JP)

PCT/JP1981/000274

April 29, 1982

October 08, 1981

Click for automatic bibliography generation  

FUJITSU FANUC LTD (JP)
SAKAKIBARA SHINSUKE (JP)
INABA HAJIMU (JP)

B25J9/10; B25J9/16; B25J9/18; G05B19/23; G05B19/42; G05D3/12; (IPC1-7): G05B19/42

JPS52112963A	1977-09-21
JPS4739891A

See also references of EP 0062076A4

View/Download PDF      PDF Help

Previous Patent: NUMERICAL CONTROL SYSTEM

Next Patent: STACK FOR A DATA PROCESSOR