JPS6411773A - Method of controlling industrial robot - Google Patents

Method of controlling industrial robot

Info

Publication number
JPS6411773A
JPS6411773A JP16848487A JP16848487A JPS6411773A JP S6411773 A JPS6411773 A JP S6411773A JP 16848487 A JP16848487 A JP 16848487A JP 16848487 A JP16848487 A JP 16848487A JP S6411773 A JPS6411773 A JP S6411773A
Authority
JP
Japan
Prior art keywords
control
robot
attitude
parameters
kci
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
JP16848487A
Other languages
Japanese (ja)
Inventor
Nobuaki Imamura
Akira Nakazumi
Toshio Inoue
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.)
Kobe Steel Ltd
Original Assignee
Kobe Steel 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 Kobe Steel Ltd filed Critical Kobe Steel Ltd
Priority to JP16848487A priority Critical patent/JPS6411773A/en
Publication of JPS6411773A publication Critical patent/JPS6411773A/en
Pending legal-status Critical Current

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  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)

Abstract

PURPOSE: To make precise position, attitude, and path control and to shorten the computation time of parameters by compensating the control parameter of axis servo system based on the computation equation obtained experimentally and analytically in advance from the position data of a link mechanism when a robot is operated. CONSTITUTION: The optimum control parameter Kci of each axis servo system is calculated by an arithmetic processing circuit 5 based on the computation equation obtained experimentally and analytically in advance from the rotation angles θ1 -θ3 of first through third axis links. The calculated control parameters Kci are used as the control parameters of a control system 4 and are multiplied by the difference between the instruction rotation angle αi and the presence rotation angle θi to obtain the control input e<i> , and the control input e<i> is fed to an actuator driving circuit 6 in the next stage. The control input e<i> thus obtained invariably reflects the changes of moment of inertia J1 -J3 and gravitational torque Tg<1> -Tg<3> due to the attitude changes when a robot is operated, thereby the precise positioning/attitude control performance and path control performance of the robot can be obtained.
JP16848487A 1987-07-06 1987-07-06 Method of controlling industrial robot Pending JPS6411773A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16848487A JPS6411773A (en) 1987-07-06 1987-07-06 Method of controlling industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16848487A JPS6411773A (en) 1987-07-06 1987-07-06 Method of controlling industrial robot

Publications (1)

Publication Number Publication Date
JPS6411773A true JPS6411773A (en) 1989-01-17

Family

ID=15868947

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16848487A Pending JPS6411773A (en) 1987-07-06 1987-07-06 Method of controlling industrial robot

Country Status (1)

Country Link
JP (1) JPS6411773A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1142576A (en) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd Robot control method and device
JP2017056558A (en) * 2017-01-06 2017-03-23 セイコーエプソン株式会社 robot
US10399222B2 (en) 2012-08-31 2019-09-03 Seiko Epson Corporation Robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6190207A (en) * 1984-10-09 1986-05-08 Omron Tateisi Electronics Co Robot controlling device
JPS61163406A (en) * 1985-01-14 1986-07-24 Omron Tateisi Electronics Co Robot control device
JPS61248104A (en) * 1985-04-26 1986-11-05 Nissan Motor Co Ltd Manipulator controlling device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6190207A (en) * 1984-10-09 1986-05-08 Omron Tateisi Electronics Co Robot controlling device
JPS61163406A (en) * 1985-01-14 1986-07-24 Omron Tateisi Electronics Co Robot control device
JPS61248104A (en) * 1985-04-26 1986-11-05 Nissan Motor Co Ltd Manipulator controlling device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1142576A (en) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd Robot control method and device
US10399222B2 (en) 2012-08-31 2019-09-03 Seiko Epson Corporation Robot
US11090805B2 (en) 2012-08-31 2021-08-17 Seiko Epson Corporation Robot
JP2017056558A (en) * 2017-01-06 2017-03-23 セイコーエプソン株式会社 robot

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