公开(公告)号：EP0540753A4

公开(公告)日：1994-08-24

申请号：EP92910209

申请日：1992-05-14

申请人： HITACHI CONSTRUCTION MACHINERY

发明人： SARUGAKU SHINICHI ,  KURENUMA TORU ,  ANDOH TAKESHI ,  OTOMO MASAMI ,  KAWASAKI KYOICHI

IPC分类号： B25J9/22 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J19/06 ,  G05B19/42 ,  G05B19/425

CPC分类号： G05B19/425 ,  B25J9/1674 ,  G05B2219/36399 ,  G05B2219/36473 ,  G05B2219/42123

摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and, when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.

摘要翻译： 一种控制工业机器人的系统，其操作简单，能够安全地直接教学。 该系统设置有用于在直接教导期间监视施加到手的前端的外力的大小的装置（131和132），使得当外力达到预定值时可以强制地限制机器人的运动 在上面。 此外，当系统被操作以设置在直接教学模式时，自动执行校正力传感器的偏移的过程（136）。 通过监视由力传感器检测到的力，判断是否将机器人以异常速度操作的外力施加到机器人，并且当外力变得高于参考值时， 设定通过外力（位置控制模式）禁止机器人操作的模式，或者切断供给到伺服电动机的电流，以防止机器人由于错误的控制而进入错误操作。