Control apparatus for robot having an arm moving w

专利名称：Control apparatus for robot having an arm

moving within allowable working area

发明人：Shinji Iida,Koji Kamiya申请号：US09/437260申请日：19991110公开号：US06166504A公开日：20001226

摘要：A robot that stops an arm within a limitation position of a predeterminedworking area when the arm is going to exceed the predetermined working area. ACPU ofcontroller calculates a position and a speed of an arm at a next sampling time when apresent sampling time comes. The CPU calculates an operation a mount which is adistance to be moved till the arm stops when the arm would be decelerated with apredetermined deceleration, and a position of the arm when the arm would operate bythe operation amount after the position at the next sampling time. When a stop positionas a result of the deceleration exceeds a predetermined limitation position, the CPUstops the arm with the predetermined deceleration. In this way, the CPU obtains theoperation speed of the arm each time, and change a position to start to decelerationbased on the operation speed, the arm can be stopped around the limitation position ofthe working area without fail.

申请人：DENSO CORPORATION

代理机构：Pillsbury Madison & Sutro LLP

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