초록 ▼

For reducing the dead time in the control circuit for the track control of an industrial robot (IR), a sensor signal (s) is fed back not at the interpolation clock frequency, but at the faster position control frequency. For this purpose it is necessary to transform the correction vector (c) derived

For reducing the dead time in the control circuit for the track control of an industrial robot (IR), a sensor signal (s) is fed back not at the interpolation clock frequency, but at the faster position control frequency. For this purpose it is necessary to transform the correction vector (c) derived from the sensor signal (s) separately into robot-referred coordinates (Damn) can take place at the interpolation frequency.

대표청구항 ▼

Apparatus for controlling an industrial robot, by which the hand or operating point of a robot arm can be guided on a desired track, comprising: (a) interpolation means for presetting a sequence of track points in robot-independent coordinates; (b) first transformation means for transforming robot-i

Apparatus for controlling an industrial robot, by which the hand or operating point of a robot arm can be guided on a desired track, comprising: (a) interpolation means for presetting a sequence of track points in robot-independent coordinates; (b) first transformation means for transforming robot-independent coordinates into robot-referred coordinates; (c) position control means processing robot-referred coordinates for the positioning of the degrees of freedom of the industrial robot according to the presetting; (d) sensor means for picking up the actual or relative position of the hand or operating point; (e) sensor data-processing means for generating a correction vector defined in a robot-independent coordinate system; (f) a feedback branch for feeding back said correction vector; (g) second transformation means located in said feedback branch, for the transformation of the correction vector defined in a robot-independent coordinate system into a robot-referred correction vector; and (h) summing means having an input from an output of said first transformation means, an input from an output of said second transformation means and an output coupled to an input of said position control means for coupling a corrected output of said first transformation means to an input of said position control means.