EP0068768A2
Expired / Lapsed
EP
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System for controlling an industrial robot
Assignee: Fanuc Corp
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Filing: 1982-06-21
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Granted: —
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Expires: 2002-06-21
Abstract
Abstract A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.
Inventors
- 👤 Hajimu Inaba
- 👤 Shinsuke Sakakibara
- 👤 Shigemi Inagaki
- 👤 Nobutoshi Torii
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-03 18:06
CPC Classifications
B; B25; B25J; B25J13/00; B25J17/00; B25J17/02; B25J9/00; B25J9/16; B25J9/1612
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
119 words
A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) which is controlled by feeding back the output pulses of a pulse coder (5) provided on the output shaft of said direct-current motor, comprising: a stroke-limit position control means (6), connected to said pulse coder, for controlling the position of said wrist between the minimum stroke and the maximum stroke; a rotational control means (7), connected to said pulse coder, for controlling the rotations of said wrist; and a selecting means (8), connected between said direct-current motor and the outputs of said stroke--limit position control means and said rotation control means, for selecting either stroke-limit position control or rotational control.
Claim 2
Independent Claim
119 words
A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) which is controlled by feeding back the output pulses of a pulse coder (5) provided on the output shaft of said direct-current motor, comprising: a stroke-limit position control means (6), connected to said pulse coder, for controlling the position of said wrist between the minimum stroke and the maximum stroke; a rotational control means (7), connected to said pulse coder, for controlling the rotations of said wrist; and a selecting means (8), connected between said direct-current motor and the outputs of said stroke--limit position control means and said rotation control means, for selecting either stroke-limit position control or rotational control.
Claim 3
Dependent Claim
135 words
A system as set forth in claim 1, wherein said stroke-limit position control means (6) comprises: a first counter means (61) for counting the output pulses of said pulse coder; a first storing means (62, 63) for storing predetermined values corresponding to the minimum and maximum strokes of said wrist; a first comparing means (64, 65) for comparing the count value of said first counter means with the predetermined values of said first storing means; a first pulse-generating means (67) for generating output pulses; and a first switching means (66), connected to said first comparing means and to said first pulse-generating means, for supplying the output pulses of said first pulse--generating means to said direct-current motor when the counter value of said first counter means is between the predetermined values of said first storing means.
Claim 4
Dependent Claim
144 words
A system as set forth in claim 1, wherein said rotational control means (7) comprises: a second counter means (71) for counting the output pulses of said pulse coder; a third counter means (74) for counting each time the counter value of said second counter means reaches a predetermined value; a second storing means (75) for a predetermined value; a second comparing means (76) for comparing the count value of said third counter means with the predetermined value of said second storing means; a second pulse-generating means (78) for generating output pulses; and a second switching means. (77), connected to said second comparing means and to said second pulse-generating means, for supplying the output pulses of said pulse-generating means to said direct-current motor only when the counter value of the third counter means is less than the predetermined value of said second storing means.
References Cited (Backward Citations)
No citation records indexed.
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