Patent
Optimum movement control system for industrial articulated robot
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TLDR
In this article, an industrial articulated robot has a longitudinal axis and first and second arms and a hand as mobile parts, driving motors M1-M3 are provided as driving sources of arms 16-18 and the hand 20, and their bits of position information are detected by detectors E1-E3.Abstract:
PURPOSE:To quickly perform the robot work by not limiting the speed condition and the time constant of the operation of each robot mobile part to certain values but varying them and calculating the optimum condition and the time constant to generate an operation command CONSTITUTION:An industrial articulated robot 10 has a longitudinal axis 14 stood on a base 12, first and second arms 16-18, and a hand 20 as mobile parts Driving motors M1-M3 are provided as driving sources of arms 16-18 and the hand 20, and their bits of position information are detected by detectors E1-E3 A robot control part 30 is provided with an operation processing device 32 and a storage device 34, and the robot operation command is generated by them and is sent to a servo device 50 The storage device 34 is provided with a means 52 which teaches and sets a program, etc In case of moving operation, optimum speed condition and time constant are controlled and selected before this operation to generate a maximum output torqueread more
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Control apparatus for robot
Koji Kamiya,Shinji Iida +1 more
TL;DR: In this paper, a position of the joint which will occur at the moment of end of a next sampling time is calculated on the basis of a speed pattern, and the calculated position is set as a command position and the joint is controlled to move to the command position after a predetermined unit control time elapses.
Patent
Control device for robot with one or more joints
Koji Kamiya,Shinji Iida +1 more
TL;DR: In this paper, the position and torque calculation in sampling time, with calculation of speed pattern, and also angle to reach end position, until the next sampling time has expired is performed.
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Control device for expansion/contruction of multiple articulated arm
Ueda Yoshihiro,Nishinaka Masaaki +1 more
TL;DR: In this article, a viscous resistance information stored for finding a target driving amt is corrected on each set time based on a driving result by a target amt. arithmetic means 100.
References
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Patent
Method for controlling position of robot
TL;DR: In this article, a DC motor is brought under position control so as to cancel the flection of the speed reducer, so that the position of the robot arm is controlled for the position command value with high precision.
Patent
Teaching method of industrial robot
TL;DR: In this article, the authors proposed a method to shorten the teaching time required for an industrial robot by setting the driving torque and the rotational frequency of a motor at specific values against the set speed at the tip of a robot hand and the set acceleration and setting automatically both said hand tip speed and acceleration in comparison with the basic characteristic value of the motor.