METHOD AND DEVICE FOR PROCESSING POSITION DEVIATION SIGNAL OF ROBOT

摘要

PURPOSE:To improve the safety of a system by respectively executing limiter processes to a target position signal in a detector coordinate system or a position deviation signal on an action point and the temporal variation of the target position transformed to a robot coordinate system. CONSTITUTION:A first limiter process 20 is executed to the target position signal in the detector coordinate system or the position deviation signal 19 on the action point and a second limiter process 32 is executed to the temporal variation 31 of the target position transformed to the robot coordinate system. The first limiter 20 adds limit to the absolute value of the displacement (vector) of the target position in the detector coordinate system which is fixed in the variation part of a robot. The second limiter 32 executes a usual saturating process or the process that the output of the position correction is made zero if an input exceeds a previously specified value to variational distance from the position on the previous point of the target position detected in the robot coordinate system which is fixed on the base of the robot.