JPS6251404U - - Google Patents
Info
- Publication number
- JPS6251404U JPS6251404U JP14271085U JP14271085U JPS6251404U JP S6251404 U JPS6251404 U JP S6251404U JP 14271085 U JP14271085 U JP 14271085U JP 14271085 U JP14271085 U JP 14271085U JP S6251404 U JPS6251404 U JP S6251404U
- Authority
- JP
- Japan
- Prior art keywords
- hand
- calculator
- adder
- memory
- correction
- 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
Links
- 238000003466 welding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Numerical Control (AREA)
Description
第１図はこの考案の一実施例による溶接ロボツ
ト制御装置の構成を示すブロツク図、第２図は従
来の溶接ロボツト制御装置の構成を示すブロツク
図、第３図は曲線部を有する溶接線の一例を示す
斜線図である。
図において、１は溶接線メモリ、２は補間演算
器、３はアクチユエータ出力変換器、４はロボツ
ト本体、５はトーチ、１３は溶接位置検出器、１
４は補正演算器、１５は加算器。なお、図中同一
符号は同一部分または相当部分を示す。
FIG. 1 is a block diagram showing the configuration of a welding robot control device according to an embodiment of this invention, FIG. 2 is a block diagram showing the configuration of a conventional welding robot control device, and FIG. 3 is a block diagram showing the configuration of a welding robot control device according to an embodiment of the invention. It is a diagonal diagram showing an example. In the figure, 1 is a welding line memory, 2 is an interpolation calculator, 3 is an actuator output converter, 4 is a robot body, 5 is a torch, 13 is a welding position detector, 1
4 is a correction calculator, and 15 is an adder. Note that the same reference numerals in the figures indicate the same or equivalent parts.
Claims (1)
るテイーチング・プレイバツク方式のロボツト装
置において、上記ハンドに取付けられこのハンド
の移動位置を検出する位置検出器、この位置検出
器によつて上記ハンドの現在位置に対する補正値
を演算する補正演算器、教示位置を記憶するメモ
リ、このメモリによる教示位置の経路を補間する
補間演算器、この補間演算器と上記補正演算器と
の演算結果を加算する加算器、この加算器の出力
をアクチユエータ出力に変換するアクチユエータ
出力変換器とを備えたことを特徴とするロボツト
の制御装置。 In a teaching playback type robot device that operates by teaching the position of the tip of the hand, a position detector is attached to the hand and detects the moving position of the hand, and the position detector detects the current position of the hand. A correction calculator that calculates a correction value, a memory that stores the taught position, an interpolation calculator that interpolates the path of the taught position by this memory, an adder that adds the calculation results of this interpolation calculator and the correction calculator, and this 1. A robot control device comprising: an actuator output converter that converts an output of an adder into an actuator output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14271085U JPS6251404U (en) | 1985-09-20 | 1985-09-20 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14271085U JPS6251404U (en) | 1985-09-20 | 1985-09-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6251404U true JPS6251404U (en) | 1987-03-31 |
Family
ID=31051693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14271085U Pending JPS6251404U (en) | 1985-09-20 | 1985-09-20 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6251404U (en) |
-
1985
- 1985-09-20 JP JP14271085U patent/JPS6251404U/ja active Pending
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