DETECTING METHOD FOR MISREGISTRATION OF ROBOT

PURPOSE:To reduce the damages a robot receives and to prevent defective workings by comparing a count value at the time when a positional signal is output with a set count value and deciding misregistration being caused at the time when the difference in the both count values exceeds the value withi...

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Bibliographische Detailangaben
Hauptverfasser:	UENO TOSHIYUKI, HOSONO TOMIO, WATANABE YOSHIKAZU, IZAWA TSUTOMU
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING
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Beschreibung
Zusammenfassung:	PURPOSE:To reduce the damages a robot receives and to prevent defective workings by comparing a count value at the time when a positional signal is output with a set count value and deciding misregistration being caused at the time when the difference in the both count values exceeds the value within a preset range. CONSTITUTION:While under actual working, if a positional signal Q4 is output from a sensor S4, for example, the difference P4 in the count value SIGMAP4 of a pulse counter C4 at this time and a set count value P40 is found by a misregistration arithmetic/deciding part 22. In case of P4 exceeds the value within a preset range, it is decided that misregistration is caused on the mechanical transmission mechanism, concretely the mechanism from a speed reducer to mechanical bond part. Yet in case of P4 being larger, it is decided in which direction the misregistration is caused by deciding whether the value P4 is positive or negative.