JPS6431209A - Method for detecting arm position - Google Patents

Method for detecting arm position

Info

Publication number
JPS6431209A
JPS6431209A JP62187167A JP18716787A JPS6431209A JP S6431209 A JPS6431209 A JP S6431209A JP 62187167 A JP62187167 A JP 62187167A JP 18716787 A JP18716787 A JP 18716787A JP S6431209 A JPS6431209 A JP S6431209A
Authority
JP
Japan
Prior art keywords
arm
encoder
angle
original
offset value
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.)
Granted
Application number
JP62187167A
Other languages
Japanese (ja)
Other versions
JP2727542B2 (en
Inventor
Kazuo Aichi
Koji Moriya
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.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial 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 Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP62187167A priority Critical patent/JP2727542B2/en
Publication of JPS6431209A publication Critical patent/JPS6431209A/en
Application granted granted Critical
Publication of JP2727542B2 publication Critical patent/JP2727542B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To shorten an original point restoring operation time by using output data from an absolute encoder, a prescribed angle, an offset value, and a corresponding table to find out the angle of an arm. CONSTITUTION:The absolute encoder 9 is fixed to an arm 14 in stead of an original position sensor and the system is provided with the corresponding table tabulating an angle DELTAZ formed from the original C of the arm 13 up to the zero point of an incremental encoder 12, an offset value DELTAD from the original point C position of the arm 13 up to the zero point of the encoder 9, the angles of respective arms 13, 14 obtain every revolution of the motor from its original point and the accumulated value of increment of absolute encoder outputs to be changed in accordance with the angles of the arms. The arm 13 is moved up to the zero point of the encoder 12 and the output data of the encoder 9 at the position, the angle DELTAZ, the offset value DELTAD, and the corresponding table are used to find out the angle of the arm. Consequently, control coordinates can be allowed to coincide with the coordinates of the arm of the robot.
JP62187167A 1987-07-27 1987-07-27 Arm position detection method Expired - Lifetime JP2727542B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62187167A JP2727542B2 (en) 1987-07-27 1987-07-27 Arm position detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62187167A JP2727542B2 (en) 1987-07-27 1987-07-27 Arm position detection method

Publications (2)

Publication Number Publication Date
JPS6431209A true JPS6431209A (en) 1989-02-01
JP2727542B2 JP2727542B2 (en) 1998-03-11

Family

ID=16201291

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62187167A Expired - Lifetime JP2727542B2 (en) 1987-07-27 1987-07-27 Arm position detection method

Country Status (1)

Country Link
JP (1) JP2727542B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006271189A (en) * 2005-02-28 2006-10-05 Harmonic Drive Syst Ind Co Ltd Geared motor
JP2010238174A (en) * 2009-03-31 2010-10-21 Yamatake Corp Positioning device and positioning method
CN110986746A (en) * 2019-12-27 2020-04-10 上海舞肌科技有限公司 Output side absolute position detection method, output side absolute position detection device, speed reduction motor and storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60169903A (en) * 1984-02-14 1985-09-03 Matsushita Electric Ind Co Ltd How to adjust the origin of an articulated robot
JPS6222114A (en) * 1985-07-22 1987-01-30 Nissan Motor Co Ltd Absolute position detector
JPS62225908A (en) * 1986-03-27 1987-10-03 Kobe Steel Ltd Position detector

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60169903A (en) * 1984-02-14 1985-09-03 Matsushita Electric Ind Co Ltd How to adjust the origin of an articulated robot
JPS6222114A (en) * 1985-07-22 1987-01-30 Nissan Motor Co Ltd Absolute position detector
JPS62225908A (en) * 1986-03-27 1987-10-03 Kobe Steel Ltd Position detector

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006271189A (en) * 2005-02-28 2006-10-05 Harmonic Drive Syst Ind Co Ltd Geared motor
JP2010238174A (en) * 2009-03-31 2010-10-21 Yamatake Corp Positioning device and positioning method
CN110986746A (en) * 2019-12-27 2020-04-10 上海舞肌科技有限公司 Output side absolute position detection method, output side absolute position detection device, speed reduction motor and storage medium

Also Published As

Publication number Publication date
JP2727542B2 (en) 1998-03-11

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