Robot control apparatus

Details Robot control apparatus Robot control apparatus

1987-04-21

1989-01-31

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318364, 318369, 318302, 901 49, G05B 1942

Patent

active

048018562

ABSTRACT:
A position of an actuation unit of a robot and a speed of a motor for driving the actuation unit are detected. A speed reference is produced on the basis of a deviation between a movement value and a position detected. Further, a torque reference is produced on the basis of a deviation between the speed reference and a speed detected. The motor for driving the actuation unit is subjected to current control. The magnitude of the torque reference is limited by a limiter. This limiter operates only when a command for allowing the robot to be subjected to emergency stop is received, and carries out limiting operation on the basis of a function which rises from the time point when the command is received.

REFERENCES:
patent: 3906299 (1975-09-01), Mittelstaedt
patent: 3906315 (1975-09-01), Gotisar
patent: 4426606 (1984-01-01), Suita et al.
patent: 4629949 (1986-12-01), Senso

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