| 摘要 |
<p>PURPOSE:To control the operation of a robot well by subtracting a number proportional to a current angle from a number proportional to the absolute angle of a target point in a control part and transmitting the difference and the sign to an acceleration/deceleration control part. CONSTITUTION:An operation control part 52 stores the number of absolute pulse of each shaft at an instructed point in the order instructed by an order control part 51. In case that an arm is moved to the target point indicated by the control part 51, the difference between the number of absolute pulses at the target point and that at the current point is operated and is outputted. Thereafter, the number of pulses at the target point is defined as the number of pulses at the current point. Driving control parts 53 are provided for respective shafts independently of one another and output the number of pulses, which are sent from the control part 52, with such phase that motors are rotated while controlling acceleration and deceleration. The outputs from control parts 53 are converted to power sufficient for rotation of phase motors by exciting drives 54, and respective shafts are rotated at designated angles by step motors 55.</p> |
