ROBOT CONTROL METHOD

PURPOSE:To ensure satisfactory control of a robot when the teaching power is excluded by calculating a speed deviation within a space of a hand part on the basis of the detection result of the teaching power, obtaining a target speed from the sum of said speed deviation and the present speed and dri...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
1. Verfasser:	SAKAGAMI MUNEYUKI
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 TRANSPORTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	PURPOSE:To ensure satisfactory control of a robot when the teaching power is excluded by calculating a speed deviation within a space of a hand part on the basis of the detection result of the teaching power, obtaining a target speed from the sum of said speed deviation and the present speed and driving a subject at the target speed. CONSTITUTION:D/A converters 2a-2f and an input interface 7 are connected to a robot controller 1. The converters 2a-2f are also connected to speed detectors 5a-5f via servo amplifiers 3a-3f and actuators 4a-4f. These detectors feed the result of detection back to the amplifiers 3a-3f. Here a power detector 6 detects the teaching power and calculates a speed deviation within a space at a hand part of a robot. Then a target speed is decided by multiplying the sum of said speed deviation and the present speed by a