Title:
CONTROLLER FOR ROBOT ARM
Document Type and Number:
Japanese Patent JPS62100808
Kind Code:
A
Abstract:
PURPOSE:To simplify the constitution of a controller for robot arm by using an analog circuit to a main servo system requiring a continuous or fast control cycle and using a digital computer to an arithmetic part for compensation of arm dead weight that requires a complicated arithmetic operation and a control cycle not so fast as the main servo system. CONSTITUTION:A master arm MA and a slave arm TA consist of a force servo system 1 and a position servo system 2 respectively. The system 1 functions to secure the coincidence between the torques of both arms MA and TA with the difference of torque sensors T1-Tn of both arms MA and TA. While the system 2 functions to make the arm TA follow the arm MA with the deviation of revolving angle sensors P1-Pn of both arms MA and TA. A dead weight compensating arithmetic part 3 consists of an A/D converter, a CPU and a D/A converter and calculates an empty weight torque from the signal of a sensor Pn of the arm MA to add it to the drive signal of a motor Mn of the arm MA. Thus the variation of the torque due to the dead empty weight can be compensated.
Inventors:
MATSUHIRA NOBUHITO
SUZUMORI KOICHI
SUZUMORI KOICHI
Application Number:
JP24041685A
Publication Date:
May 11, 1987
Filing Date:
October 29, 1985
Export Citation:
Assignee:
TOSHIBA CORP
International Classes:
B25J3/00; B25J9/16; B25J13/00; G05B19/18; (IPC1-7): B25J3/00; B25J13/00; G05B19/18
Attorney, Agent or Firm:
Noriyuki Noriyuki