Control method and apparatus for a robot having multi-rotating axes
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United States of America Patent
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Jun 22, 1993
Issued Date -
N/A
app pub date -
Apr 20, 1992
filing date -
May 6, 1988
priority date (Note) -
Expired
status (Latency Note)
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Abstract
The operating range of the conventional multi-axis joint type robot has been restricted, from its structural reason, with .+-.180.degree. for all axes provided. However, recently, expansion of the operating range of robots has been required and improvement in structure and control method of robots has realized expansion of the operating range to under .+-.360.degree.. But, in the case of the robot providing the axis rotating .+-.360.degree. or more, it is sometimes difficult to apply such control methods, resulting in disabling operations. In the present invention, therefore, the signal obtained by adding or subtracting the signal corresponding to the integer number of rotations of the axis to or from the rotating position signal after rotation of the axis depending on the positive or negative sign of the rotating position signal is applied as the rotating position at the time of starting the posture control operation. Since the corrected link angle has a value under .+-.360.degree., the smooth interpolating operation can be realized by applying the control method described above. Accordingly, the operating range of multiple axes joint type robot can be expanded.
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