Control system for industrial robot

摘要

The industrial robot 15 such as a type used for arc welding has the welding head 16 and rod 24 moved in 3D space by a number of servo drive motors 30 operating to a programme executed by the computer controller 18. The controller has a main CPU stage that interprets commands and is coupled to a servo control stage. The main CPU stage also acts as the velocity command unit and includes a facility to continuously compare the velocity of the robot with the command value. Motion data is provided by a combined incremental and absolute encoder.