Industrial robot with means for compensating motion of wrist

Abstract

Abstract PURPOSE: To provide an industiral robot, capable of machining articles correctly, if machining lines of these articles to be machined are different from each other. CONSTITUTION: The industrial robot of this invention comprises a control section 1 which stores machining lines of articles to be machined in memory and gives an instruction signal for instructing the motion of wrist at the top of robot arm at the time of regenerating operation; a servo-amplifier 2 which receives the above instruction signal from the control section 1 and controls servo valve 3 for controlling robot actuating means 4; and a position detector 5 which detects the amount of actual motion of the wrist and gives a feedback signal to the servo-amplifier 2. The robot further comprises a deviation detecting means 7 including a detector element 6, which is moved along an actual machining line and detects deviation from the machining line stored in memory. This deviation signal producted by the means 7 is supplied to the servo-amplifier 2 to compensate the motion of wrist COPYRIGHT: (C)1979,JPO&Japio

Inventors

• 👤 Hirokazu Kubota
• 👤 Hirokazu Shimatake
• 👤 Hachiro Haga
• 👤 Kazuo Hariki
• 👤 Shigeaki Urata

Bibliographic Details