公开(公告)号：EP0144442A1

公开(公告)日：1985-06-19

申请号：EP84902069.8

申请日：1984-05-25

申请人： FANUC LTD.

发明人： TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101 ,  MIZUNO, Tooru ,  HARA, Ryuichi Hirayamashataku 202 10-1, 2-chome

IPC分类号： G05B19/415

CPC分类号： G05B19/41 ,  G05B2219/45083 ,  G05B2219/50353

摘要： A method of controlling an industrial robot along an arc wherein the position of a working member attached to the wrist of the industrial robot is controlled along an arc by interpolation, while the angle of the working member with respect to a surface being worked is controlled. The method comprises the steps of obtaining corresponding points (P i , P 2 ...: Q 1 , Q 2 ...) of the far end and near end of the working member (TC) attached to the wrist (HD) of the robot at a plurality of instruction points, for controlling the far end of the working member (TC) along an arc; obtaining interpolation points of the far end and near end of the working member from interpolation using the pairs of corresponding points; and obtaining command quantities for the operational axes of the robot from both interpolation points.

公开(公告)号：EP0143852B1

公开(公告)日：1990-09-19

申请号：EP84901427.9

申请日：1984-04-11

申请人： FANUC LTD.

发明人： NAKASHIMA, Seiichiro ,  TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101

IPC分类号： G01D5/245 ,  G01B21/00

CPC分类号： G05B19/4062 ,  G01B7/003 ,  G01D3/08 ,  G01D5/2458 ,  G05B19/39

摘要： In a method of detecting the absolute position of a servo control system which is controlled according to, for example, a numerical control program, the absolute position of an operating shaft is detected with a high accuracy from an output corresponding to a predetermined rotational ratio between a resolver (106) and an absolute encoder (110) which rotate together with a servo motor (105), making it possible to rapidly stabilize any change of the absolute position of the operating shaft occurring when the servo control system is in an abnormal state.

公开(公告)号：EP0144442B1

公开(公告)日：1991-01-02

申请号：EP84902069.8

申请日：1984-05-25

申请人： FANUC LTD.

发明人： TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101 ,  MIZUNO, Tooru ,  HARA, Ryuichi Hirayamashataku 202 10-1, 2-chome

IPC分类号： G05B19/415

CPC分类号： G05B19/41 ,  G05B2219/45083 ,  G05B2219/50353

摘要： A method of controlling an industrial robot along an arc wherein the position of a working member attached to the wrist of the industrial robot is controlled along an arc by interpolation, while the angle of the working member with respect to a surface being worked is controlled. The method comprises the steps of obtaining corresponding points (P1, P2 ...: Q1, Q2 ...) of the far end and near end of the working member (TC) attached to the wrist (HD) of the robot at a plurality of instruction points, for controlling the far end of the working member (TC) along an arc; obtaining interpolation points of the far end and near end of the working member from interpolation using the pairs of corresponding points; and obtaining command quantities for the operational axes of the robot from both interpolation points.

公开(公告)号：EP0143852A1

公开(公告)日：1985-06-12

申请号：EP84901427.9

申请日：1984-04-11

申请人： FANUC LTD.

发明人： NAKASHIMA, Seiichiro ,  TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke Mezon-Izumi 101

IPC分类号： G01D5/245 ,  G01B21/00

CPC分类号： G05B19/4062 ,  G01B7/003 ,  G01D3/08 ,  G01D5/2458 ,  G05B19/39

摘要： In a method of detecting the absolute position of a servo control system which is controlled according to, for example, a numerical control program, the absolute position of an operating shaft is detected with a high accuracy from an output corresponding to a predetermined rotational ratio between a resolver (106) and an absolute encoder (110) which rotate together with a servo motor (105), making it possible to rapidly stabilize any change of the absolute position of the operating shaft occurring when the servo control system is in an abnormal state.