JPS6470801A - Method for controlling operation of robot arm - Google Patents

Method for controlling operation of robot arm

Info

Publication number
JPS6470801A
JPS6470801A JP22638087A JP22638087A JPS6470801A JP S6470801 A JPS6470801 A JP S6470801A JP 22638087 A JP22638087 A JP 22638087A JP 22638087 A JP22638087 A JP 22638087A JP S6470801 A JPS6470801 A JP S6470801A
Authority
JP
Japan
Prior art keywords
robot arm
robot
time
operate
limit
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
JP22638087A
Other languages
Japanese (ja)
Inventor
Minoru Kano
Akinobu Takemoto
Hironao Kamaya
Ryoichi Hisatomi
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.)
Hitachi Ltd
Original Assignee
Hitachi 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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP22638087A priority Critical patent/JPS6470801A/en
Publication of JPS6470801A publication Critical patent/JPS6470801A/en
Pending legal-status Critical Current

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  • Numerical Control (AREA)

Abstract

PURPOSE:To easily and conveniently teach the operation of a robot arm by interrupting the operation of the robot arm exceeding its operation limit at the time of teaching a position and softly decelerating the robot arm in proportion to approach to the operation limit point. CONSTITUTION:A control device 1 has a teaching means 14 including an operation switch or the like for manually operating a robot and commanding the robot to operate in accordance with with operating procedure stored in an operating procedure storing means 17. A robot body 2 receiving a PWM command outputted from an arithmetic means 15 is driven through a PWM signal generating circuit 11 and a power circuit 12 and its rotating position is fed back through a pulse counter 13 for counting up encoder pulses. When an operation button is continuously depressed, the robot arm is properly accelerated from a current position to an operation enabled limit position to operate the robot arm, and at the time of releasing the operation button, the robot arm is decelerated gradually from the pint of time to stop the robot arm.
JP22638087A 1987-09-11 1987-09-11 Method for controlling operation of robot arm Pending JPS6470801A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22638087A JPS6470801A (en) 1987-09-11 1987-09-11 Method for controlling operation of robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22638087A JPS6470801A (en) 1987-09-11 1987-09-11 Method for controlling operation of robot arm

Publications (1)

Publication Number Publication Date
JPS6470801A true JPS6470801A (en) 1989-03-16

Family

ID=16844215

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22638087A Pending JPS6470801A (en) 1987-09-11 1987-09-11 Method for controlling operation of robot arm

Country Status (1)

Country Link
JP (1) JPS6470801A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0370606U (en) * 1989-11-02 1991-07-16

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58219610A (en) * 1982-06-14 1983-12-21 Yamatake Honeywell Co Ltd Teaching system of robot hand
JPS6140612A (en) * 1984-08-01 1986-02-26 Shinko Electric Co Ltd Industrial robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58219610A (en) * 1982-06-14 1983-12-21 Yamatake Honeywell Co Ltd Teaching system of robot hand
JPS6140612A (en) * 1984-08-01 1986-02-26 Shinko Electric Co Ltd Industrial robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0370606U (en) * 1989-11-02 1991-07-16

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