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1. WO1982001428 - METHOD AND APPARATUS FOR CONTROLLING INDUSTRIAL ROBOT

Publication Number WO/1982/001428
Publication Date 29.04.1982
International Application No. PCT/JP1981/000274
International Filing Date 08.10.1981
IPC
G05B 19/23 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
21using an incremental digital measuring device
23for point-to-point control
G05B 19/42 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
CPC
G05B 19/231
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
21using an incremental digital measuring device
23for point-to-point control
231the positional error is used to control continuously the servomotor according to its magnitude
G05B 19/42
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
G05B 2219/37357
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37357Force, pressure, weight or deflection
G05B 2219/39176
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39176Compensation deflection arm
G05B 2219/42182
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
42Servomotor, servo controller kind till VSS
42182Memory is Rom for servo control
G05B 2219/45083
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45083Manipulators, robot
Applicants
  • FUJITSU FANUC LIMITED [JP]/[JP] (AllExceptUS)
  • INABA, Hajimu [JP]/[JP] (UsOnly)
  • SAKAKIBARA, Shinsuke [JP]/[JP] (UsOnly)
Inventors
  • INABA, Hajimu
  • SAKAKIBARA, Shinsuke
Agents
  • TSUJI, Minoru @
Priority Data
55/14260613.10.1980JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) METHOD AND APPARATUS FOR CONTROLLING INDUSTRIAL ROBOT
(FR) PROCEDE ET APPAREIL DE COMMANDE D'UN ROBOT INDUSTRIEL
Abstract
(EN)
A method of and an apparatus for controlling an industrial robot having: a pulse distribution circuit (19) for calculating the pulse distribution on the basis of position command data of instruction data to generate distribution pulses (Zp), a pulse coder (24) forgenerating a feedback pulse (FP) every time the robot moves a predetermined distance in a Z-axis direction, an error register (20)for storing the number of distribution pulses and the number of feedback pulses, and position control means (21, 22) for controlling the position of the robot, for correcting the deflection amount $g(D)Z of the arm occuring when the robot holds a workpiece having a weight w. The apparatus includes a memory (11) for storing the deflection amount$g(D)Zo of the arm when the arm having a length $g(D)Zo holds a workpiece having a predetermined weight WO, an arithmetic circuit (12) for calculating the deflection amount $g(D)Z when the arm having a length l0 holds a workpiece having a weight W from $g(D)Zo, lo, Wo, l and W, and an adding circuit (18) for adding the Z-axis incremental movement command amount Zd and the deflection amount $g(D)Z to produce an output to the circuit (19) and correct the positional error due to the deflection by producing the distribution pulse corresponding to the amount (Zd+$g(D)Z) via the circuit (19).
(FR)
Procédé et appareil de commande d'un robot industriel ayant un circuit de distribution d'impulsions (19) pour calculer la distribution des impulsions d'après les données de commande de position des données d'instruction pour générer des impulsions de distribution (Zp), un codeur d'impulsions (24) pour générer une impulsion de réaction (FP) à chaque fois que le robot se déplace d'une distance prédéterminée dans la direction de l'axe des Z, un registre d'erreurs (20) pour stocker le nombre d'impulsions de distribution et le nombre d'impulsions de réaction, et des moyens de commande de position (21, 22) pour commander la position du robot et corriger l'écart de déviation ($g(D)Z) du bras lorsque le robot tient une pièce à usiner ayant un poids W. L'appareil comprend une mémoire (11) pour mémoriser la déviation ($g(D)Zo) du bras lorsque le bras ayant une longueur l0 tient une pièce à usiner ayant un poids prédéterminé W0, un circuit arithmétique (12) pour calculer la valeur de la déviation ($g(D)Z) lorsque le bras ayant une longueur l tient une pièce à usiner ayant un poids W à partir de $g(D) Z0, l0, W0, l et W, et un circuit d'addition (18) pour additionner la quantité de Zd de commande du mouvement par incrément sur l'axe des Z et la quantité de la déviation ($g(D)Z) pour produire une sortie sur le circuit (19) et corriger l'erreur de position due à la déviation en produisant l'impulsion de distribution correspondante à la quantité (Zd+$g(D)Z) par l'intermédiaire du circuit (19).
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