基本信息:
- 专利标题： ROBOT CONTROLLER
- 专利标题（中）：机器人控制器
- 申请号：EP87901684.8 申请日：1987-03-14
- 公开(公告)号：EP0260326B1 公开(公告)日：1993-08-04
- 发明人： KURAKAKE, Mitsuo , SAKAMOTO, Keiji , IWAMOTO, Takashi
- 申请人： FANUC LTD.
- 申请人地址： 3580, Shibokusa Aza-Komanba, Oshinomura Minamitsuru-gun, Yamanashi 401-05 JP
- 专利权人： FANUC LTD.
- 当前专利权人： FANUC LTD.
- 当前专利权人地址： 3580, Shibokusa Aza-Komanba, Oshinomura Minamitsuru-gun, Yamanashi 401-05 JP
- 代理机构： Billington, Lawrence Emlyn
- 优先权： JP56433/86 19860314; JP56434/86 19860314; JP56435/86 19860314
- 国际公布： WO8705721 19870924
- 主分类号： G05D3/12
- IPC分类号： G05D3/12 ; G05B19/18 ; B25J9/10
摘要：
This invention relates to a robot controller employing a simply constructed controller which performs feed forward compensation with nonlinear torque. Servo CPU's (c1, c2) provided for each of a plurality of drive axes (1, c2) of a robot arm are connected to a common RAM (b) via a bus line (f). Into the common RAM (b) are written, via a main CPU (a), the weight of a robot hand, the weight of a work, and position instructions for the drive axes (1, 2), and are further written the present positions of the drive axes (1, 2) via the servo CPU's (c1, c2). The servo CPU's (c1, c2) calculate feedback control outputs based upon differences between the instruction values of the axes and the present value, and calculate feed forward compensation outputs with nonlinear torque based upon the weights of the robot hand and the work, positions of other drive axes and speed data, and send the outputs to inverters (d1, d2).
公开/授权文献:
- EP0260326A1 ROBOT CONTROLLER 公开/授权日：1988-03-23