Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-03-30
1990-01-30
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318573, 31856816, 31856817, 364513, 901 9, 901 15, 901 20, G05B 1942
Patent
active
048975869
ABSTRACT:
An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.
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Aono Toshio
Nakata Shuichi
Sugita Shinichi
Yamamoto Katsumi
Ip Paul
Shoop Jr. William M.
Toyoda Koko Kabushiki Kaisha
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