US 5,222,198 AGranted

Control method and apparatus for a robot having multi-rotating axes

AssigneeKabushiki Kaisha Yaskawa Denki Seisakusho

InventorsMinoru Yamamoto, Satoshi Gosho

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Abstract

The operating range of the conventional multi-axis joint type robot has been restricted, from its structural reason, with .+-.180.degree. for all axes provided. However, recently, expansion of the operating range of robots has been required and improvement in structure and control method of robots has realized expansion of the operating range to under .+-.360.degree.. But, in the case of the robot providing the axis rotating .+-.360.degree. or more, it is sometimes difficult to apply such control methods, resulting in disabling operations. In the present invention, therefore, the signal obtained by adding or subtracting the signal corresponding to the integer number of rotations of the axis to or from the rotating position signal after rotation of the axis depending on the positive or negative sign of the rotating position signal is applied as the rotating position at the time of starting the posture control operation. Since the corrected link angle has a value under .+-.360.degree., the smooth interpolating operation can be realized by applying the control method described above. Accordingly, the operating range of multiple axes joint type robot can be expanded.

Claims2

Dependent claims

A control apparatus comprising a multi-rotating playback system having at least one multi-rotating axis with an operating range of .+-.360.degree. or more, and a control system for controlling the axis to rotate to a determined position of said multi-rotating axis, said control system comprising:

a detector coupled to said axis to detect angular movement of said axis from a reference position of said axis, and means responsive to the output of said detector for producing a detected rotating position datum for the reference position of said multi-rotating axis;
a rotation calculator for providing a calculated rotation datum corresponding to an integral number of rotations for said reference position of said multi-rotating axis based on said detected rotating position datum;
a rotating position corrector for subtracting said calculated rotation datum from said rotating position datum and then executing an interpolating operation to provide a corrected rotating position datum;
a source of teaching data;
an interpolation control calculator for obtaining interpolating data based on the corrected rotating position datum provided by said rotating position corrector and the position datum obtained on the basis of said teaching data, and
a drive arrangement connected to said axis to rotate said axis an amount corresponding to said interpolating data.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 07/871,609Filed 20 Apr 1992 · continuation
Priority: JP 63-1107976 May 1988
Granted: 22 Jun 1993
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

G05B 19/41
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
B25J 9/046
By rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type: revolute coordinate type
G05B 19/19
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 19/231
For point-to-point control: the positional error is used to control continuously the servomotor according to its magnitude