| 摘要 |
PURPOSE:To reduce the number of cables and to attain miniaturization and lightweight by containing a motor controller in each joint and serially executing data communications. CONSTITUTION:Motor control circuits are placed on joints 10-13 in a robot to communicate with a host computer 1 in terms of serial multiplex communication. The host computer 1 digitally outputs a command code for controlling a DC motor 6. Said code is made serial by a serial time division multiplex interface 2, and transmitted to said motor control circuit. Communications with the joints 10-13 is cyclical in terms of time division. A microcomputer 3 analyzes the transferred command code, and outputs a motor control signal, which is made analog by a digital/analog converter 4. According to the analog control signal, the motor 6 is controlled through a servo amplifier 5.
|
