Robot controller

Details Robot controller Robot controller

1997-12-02

1998-11-10

Ro, Bentsu

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318566, 901 9, B25J 912

Patent

active

058349170

ABSTRACT:
A robot controller comprises, (1) a servo motor driving a robot manipulator, (2) a motor current detector which detects a current driving the servo motor, (3) a motor rotational speed detector which detects a rotational speed of the servo motor, (4) a disturbance detector which detects a disturbance torque loaded to the robot manipulator by using the motor rotational speed and the motor current, (5) a force control calculator which outputs a force-control-instruction value responsive to a disturbance torque detected by the disturbance detector, and (6) a move restriction calculator which performs a force control by adding a force-control-instruction value to a regular position-instruction value of the robot manipulator. Further, the move restriction calculator switches a force control direction according to a move-restriction-direction-instruction value, and adds the force-control-instruction value to the regular position-instruction value of the robot manipulator so that the force control may move along a restricted direction which has been taught.

REFERENCES:
patent: 4943759 (1990-07-01), Sakamoto et al.
patent: 5414799 (1995-05-01), Seraji
patent: 5418440 (1995-05-01), Sakaguchi et al.

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