Method of controlling industrial robot

Computer control for multiaxial industrial robot

PURPOSE:To suppress displacement of Y axis during shifting by updating target value to make the target value get near to the command value when there is deviation between the target value and command value. CONSTITUTION:The target value S2 of X axis read out from a memory 2 and present value S3 of X axis read out from a memory 3 are compared by a comparator 4 and the deviation is amplified by an amplifier 5 to control armature current of a motor 6. When the motor 6 rotates, a pulse S7 is generated from an encoder 7 combined to the shaft, and present value of the memory 3 is updated by the number of pulses to bring near to the target value S2 and reduce deviation S4. Similarly, Y axis also controls armature current of a motor 16. At the same time, command value S1 and target value S2 are compared by the comparator 4 and the target value is brought close to the command value by a fixed value. Similarly, if there is difference in the values in Y axis, the target value S12 is brought close to the command value S11 by the same value with the increment of X axis.

Control device for positioning double spindle

Method of controlling drive of multi-joint type robot

PURPOSE:To attain a CP action at playing back in the combination with actual fine PTP actions by sampling periodically and action locus available from a manually operated robot so as to store it as NC data in a memory when the CP action is taught. CONSTITUTION:When contents in a teaching action mode buffer 1 is '1', a CPU 9 receives an interruption in an interval set to a sampling period buffer 3 by a timer interrupter 13. When the CP action (the locus of the tip of the wrist of a robot draws a straight line or an arc) is recognized, the CPU 9 reads the current value of the robot from a POS11 and sets it in a current value buffer 15. continuously contents in a current value buffer 15 are compared with those of a previous current value buffer 17. when there is a difference between them, NC data is generated by assuming that a pivot action is executed, and set in an NC data buffer 5. Upon the completion of the generation of the NC data at one sampling point, the operation is shifted to the next sampling point. When the data generation at all sampling points is terminated, the CP action is executed according to said data.

Method of controlling industrial robot

Citations

Computer control for multiaxial industrial robot

Control device for positioning double spindle

Method of controlling drive of multi-joint type robot

Robot control method

References

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