JPS5773401A - Limiting method for working range of industrial robot - Google Patents

Limiting method for working range of industrial robot

Info

Publication number
JPS5773401A
JPS5773401A JP14841880A JP14841880A JPS5773401A JP S5773401 A JPS5773401 A JP S5773401A JP 14841880 A JP14841880 A JP 14841880A JP 14841880 A JP14841880 A JP 14841880A JP S5773401 A JPS5773401 A JP S5773401A
Authority
JP
Japan
Prior art keywords
working range
industrial robot
ram
cpu5
gives
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP14841880A
Other languages
Japanese (ja)
Inventor
Mitsuo Suzuki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Mechatronics Co Ltd
Original Assignee
Toshiba Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Seiki Co Ltd filed Critical Toshiba Seiki Co Ltd
Priority to JP14841880A priority Critical patent/JPS5773401A/en
Publication of JPS5773401A publication Critical patent/JPS5773401A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49137—Store working envelop, limit, allowed zone

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To realize the optional limiting for the working range of an industrial robot of the teaching playback system having a position detector, by teaching the working range. CONSTITUTION:Both the upper and lower limit values are previously defined to an RAM for the working range of an industrial robot. A CPU5 gives a command to a servo valve 9a via a reference voltage generator, a polarity switch 6, a D/A converter 7 and various types of amplifiers 8 and based on the control information and the position information which are read out of the RAM. Thus an actuator 9 is actuated to give the hydraulic control to a mechanism 10. The present position of the mechanism 10 received the hydraulic control is read by an encoder (ENC)11 and fed to the CPU5 from an input buffer 12 via a gray/binary converter 13. The CPU5 calculates the deviation to the target value and gives a D/A conversion 6 to the absolute value and the polarity to store them in a sample holding amplifier 8a. Some fault is decided in case when the input data of the ENC11 is outside of the range which is defined at the RAM.
JP14841880A 1980-10-24 1980-10-24 Limiting method for working range of industrial robot Pending JPS5773401A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14841880A JPS5773401A (en) 1980-10-24 1980-10-24 Limiting method for working range of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14841880A JPS5773401A (en) 1980-10-24 1980-10-24 Limiting method for working range of industrial robot

Publications (1)

Publication Number Publication Date
JPS5773401A true JPS5773401A (en) 1982-05-08

Family

ID=15452344

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14841880A Pending JPS5773401A (en) 1980-10-24 1980-10-24 Limiting method for working range of industrial robot

Country Status (1)

Country Link
JP (1) JPS5773401A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60132208A (en) * 1983-12-21 1985-07-15 Amada Co Ltd Moving range controlling method of movable body
JPS60230205A (en) * 1984-04-27 1985-11-15 Fanuc Ltd Numerical controlling system
JPS6151205A (en) * 1984-08-20 1986-03-13 Kobe Steel Ltd Operation space identification system of robot
JPS6151204A (en) * 1984-08-20 1986-03-13 Kobe Steel Ltd Operation space identification system of robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60132208A (en) * 1983-12-21 1985-07-15 Amada Co Ltd Moving range controlling method of movable body
JPS60230205A (en) * 1984-04-27 1985-11-15 Fanuc Ltd Numerical controlling system
JPS6151205A (en) * 1984-08-20 1986-03-13 Kobe Steel Ltd Operation space identification system of robot
JPS6151204A (en) * 1984-08-20 1986-03-13 Kobe Steel Ltd Operation space identification system of robot

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