Starting-point returning apparatus for robot

Details Starting-point returning apparatus for robot Starting-point returning apparatus for robot

1996-04-10

1999-07-06

Martin, David

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318603, 318602, 901 46, 901 47, B25J 1902

Patent

active

059201711

ABSTRACT:
A starting-point returning apparatus of a robot enables the returning to the starting point of an operation arm with a small movement. A controlling portion for returning a first operation arm to the starting point with respect to a support shaft includes a motor controller for controlling the motor, a pulse counter for counting the number of pulses generated from the motor while an aperture is sensed by a sensor, a memory for storing the pulse number of the motor corresponding to the length of each aperture, a position-sensor for sensing a current position of the first operation arm from the pulse number of the motor generated during the aperture-sensing period, an encoder for receiving a pulse signal corresponding to distance from the current position of the first operation arm sensed by the position-sensor to the starting point to the motor controller. Thus, the range, and therefore the time, for returning to the starting point can be minimized.

REFERENCES:
patent: 4011487 (1977-03-01), Loomis
patent: 4796005 (1989-01-01), Ishida et al.
patent: 5003239 (1991-03-01), Matthews et al.
patent: 5103225 (1992-04-01), Dolan et al.

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