JPS647105A - Optimum movement control system for industrial articulated robot - Google Patents

Optimum movement control system for industrial articulated robot

Info

Publication number
JPS647105A
JPS647105A JP62161120A JP16112087A JPS647105A JP S647105 A JPS647105 A JP S647105A JP 62161120 A JP62161120 A JP 62161120A JP 16112087 A JP16112087 A JP 16112087A JP S647105 A JPS647105 A JP S647105A
Authority
JP
Japan
Prior art keywords
robot
time constant
articulated robot
control system
arms
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
JP62161120A
Other languages
Japanese (ja)
Other versions
JPH0820893B2 (en
Inventor
Kenichi Toyoda
Nobutoshi Torii
Akira Nihei
Mitsuhiro Yasumura
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP62161120A priority Critical patent/JPH0820893B2/en
Priority to PCT/JP1988/000656 priority patent/WO1989000305A1/en
Publication of JPS647105A publication Critical patent/JPS647105A/en
Publication of JPH0820893B2 publication Critical patent/JPH0820893B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4181—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by direct numerical control [DNC]
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To quickly perform the robot work by not limiting the speed condition and the time constant of the operation of each robot mobile part to certain values but varying them and calculating the optimum condition and the time constant to generate an operation command. CONSTITUTION:An industrial articulated robot 10 has a longitudinal axis 14 stood on a base 12, first and second arms 16-18, and a hand 20 as mobile parts. Driving motors M1-M3 are provided as driving sources of arms 16-18 and the hand 20, and their bits of position information are detected by detectors E1-E3. A robot control part 30 is provided with an operation processing device 32 and a storage device 34, and the robot operation command is generated by them and is sent to a servo device 50. The storage device 34 is provided with a means 52 which teaches and sets a program, etc. In case of moving operation, optimum speed condition and time constant are controlled and selected before this operation to generate a maximum output torque.
JP62161120A 1987-06-30 1987-06-30 Optimal movement control method for industrial articulated robot Expired - Lifetime JPH0820893B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP62161120A JPH0820893B2 (en) 1987-06-30 1987-06-30 Optimal movement control method for industrial articulated robot
PCT/JP1988/000656 WO1989000305A1 (en) 1987-06-30 1988-06-30 Method of optimizing operation of articulated industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62161120A JPH0820893B2 (en) 1987-06-30 1987-06-30 Optimal movement control method for industrial articulated robot

Publications (2)

Publication Number Publication Date
JPS647105A true JPS647105A (en) 1989-01-11
JPH0820893B2 JPH0820893B2 (en) 1996-03-04

Family

ID=15728982

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62161120A Expired - Lifetime JPH0820893B2 (en) 1987-06-30 1987-06-30 Optimal movement control method for industrial articulated robot

Country Status (2)

Country Link
JP (1) JPH0820893B2 (en)
WO (1) WO1989000305A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02152778A (en) * 1988-12-01 1990-06-12 Kubota Ltd Extension/contraction control device for articulated arms of harvesting machines
US6127792A (en) * 1998-03-30 2000-10-03 Denso Corporation Control apparatus for robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5779829A (en) * 1995-08-24 1998-07-14 The Goodyear Tire & Rubber Company Pneumatic tire having a single carcass ply reinforced with metallic cords, a high ending ply, turnup and locked bead construction
JP6339534B2 (en) 2015-07-17 2018-06-06 ファナック株式会社 ROBOT CONTROL METHOD AND ROBOT CONTROL DEVICE HAVING HAND HOLDING MAXIMUM TWO WORKS

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61114317A (en) * 1984-11-08 1986-06-02 Matsushita Electric Ind Co Ltd Teaching method of industrial robot
JPS61159391A (en) * 1984-12-28 1986-07-19 ソニー株式会社 Method of controlling industrial robot
JPS6280706A (en) * 1985-10-04 1987-04-14 Matsushita Electric Ind Co Ltd Robot position control method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62143104A (en) * 1985-12-17 1987-06-26 Matsushita Electric Ind Co Ltd Method for controlling position of robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61114317A (en) * 1984-11-08 1986-06-02 Matsushita Electric Ind Co Ltd Teaching method of industrial robot
JPS61159391A (en) * 1984-12-28 1986-07-19 ソニー株式会社 Method of controlling industrial robot
JPS6280706A (en) * 1985-10-04 1987-04-14 Matsushita Electric Ind Co Ltd Robot position control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02152778A (en) * 1988-12-01 1990-06-12 Kubota Ltd Extension/contraction control device for articulated arms of harvesting machines
US6127792A (en) * 1998-03-30 2000-10-03 Denso Corporation Control apparatus for robot
DE19914245B4 (en) * 1998-03-30 2009-05-07 Denso Corp., Kariya-shi Robot controller

Also Published As

Publication number Publication date
WO1989000305A1 (en) 1989-01-12
JPH0820893B2 (en) 1996-03-04

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