Robot

Abstract

Abstract PURPOSE: To make it possible to make the memory small-sized and also make it operate smoothly, by making interpolation to a position signal which has been discretely derived. CONSTITUTION: In case when the teaching operation is being executed, a position signal is stored discretely. In this case, the value which prescribes the intervals of the position designating operation is set to the setting deivce. The counter counts constant periodic pulses, and when the same number as the value prescribed to the setting device, a coincidence signal is generated from the comparator. Whenever the coincidence signal is generated, the position signal at that time is stored in the memory. The value prescribed to the setting device is, for instance, an optional value of 1 through 99, and when the robot moves (at the time of play back) between the positions P 0 , P n which are stored discretely, the interpolation by which the robot can be moved smoothly is performed by pulses of (n) pieces generated between the positions P 0 , P n . COPYRIGHT: (C)1981,JPO&Japio

Inventors

• 👤 Yoshimasa Ito
• 👤 Junji Hashizume

Bibliographic Details