| 摘要 |
<p>PURPOSE:To cope with a complicated work by connecting a first and a second arithmetic processors having a communication circuit, respectively to a first and a second robots, and connecting both the processors to each other by said communication circuit. CONSTITUTION:In a system of a 2-arm coordination robot, as for a force feedback control robot 1, a force sensor 2 is attached to its wrist part, and it has a hand 3 at the tip. A controller 4 has a sensor circuit 5 and a servo-circuit 6, by which each axis is driven. Also, a position control robot 21 has a hand 23 at the tip in the same way, and a controller 24 drives each axis. In this regard, arithmetic processors 47, 67 are constituted of processors 48, 68, memories 49, 69, etc. In this case, the arithmetic processors 47, 67 are provided with communication circuits 54, 72, by which both the devices 47, 67 are connected to each other. Subsequently, the corresponding operation of force moment information is calculated by dividing it into prescribed axial components between both the devices 47, 67, and based on its result, both the robots 1, 21 are driven.</p> |
