ACTION CONTROLLER FOR MULTI-JOINT ROBOT

摘要

PURPOSE:To reduce the power loss produced by the plus/minus switching actions of a relay together with the satisfactory control performance secured for a slide state, by changing the input/output characteristics of the relay. CONSTITUTION:A servo mechanism control relay 6 of a slide state control means 17 contains the plus and minus value areas where the output is positive and negative respectively together with a blind sector of the minute width having no output secured between said plus and minus areas. Therefore the relay 6 has no output owing to its blind sector when the slide state is controlled. Thus the power loss produced by the plus/minus switching actions of the relay 6 can be reduced without deteriorating so much the control performance for the locus of the arm wrist of a multi-joint robot.