Robot control system
AssigneeKabushiki Kaisha Toshiba
InventorMasumi Tamari
Life of this patent
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Abstract
In a control system for a robot having a servo motor driving an operation axis, position error detecting means, detects an error of the actual position with reference to a desired instantaneous position, and a drive circuit receives the position error for supplying a current to the servo motor to reduce the position error. The control system is characterized by means for limiting the current supplied from the drive circuit to the servo motor thereby to limit the torque of the servo motor when the servo motor is driving the operation axis in a first mode in which movement of the operation axis is subject to undesired obstruction.
Claims8
A control system for a robot having an operation axis and a servo motor driving the operation axis, said control system comprising:
- (a) position error detecting means detecting an error of the actual position with reference to a desired instantaneous position;
- (b) a drive circuit responsive to the position error for supplying a current to the servo motor to reduce the position error;
- (c) limit means for limiting the current supplied from the drive circuit to the servo motor, thereby to limit the torque of the servo motor;
- (d) switching means for turning on or off said limit means;
- and
- (e) means for setting a limit value, wherein the drive circuit comprises an operational amplifier with a limiter limiting the output of the operational amplifier to said limit value set by said setting means.
A control system for a robot having an operation axis and a servo motor driving the operation axis, said control system comprising:
- (a) position error detecting means detecting an error of the actual position with reference to a desired instantaneous position;
- (b) a drive circuit responsive to the position error for supplying a current to the servo motor to reduce the position error;
- (c) limit means for limiting the current supplied from the drive circuit to the servo motor, thereby to limit the torque of the servo motor;
- (d) switching means for turning on or off said limit means;
- and
- (e) stall detecting means for detecting stall of said operation axis, and transferring control to a remedy program under which the operation axis is moved for remedy, when said stall is detected while the limit means is in operation.
Dependencies are inferred from the claim text.