METHOD AND DEVICE FOR CONTROL OF ROBOT HAND

摘要

PURPOSE:To decrease the number of wirings at an action part of a robot by using an interchange circuit which converts the control and detection signals into series digital signals and performs transmission and reception. CONSTITUTION:A pair of interchange circuits (an interchange circuit 110 at the controller side and an interchange circuit 111 at the hand side) are provided in the course of a wiring reaching a robot hand 19 from a robot controller 77. Then both circuits 110 and 111 are connected to each other with a small number of wirings 112. A digital input/output device 86 of the conroller 77 is connected to the circuit 110 with a wiring 114. While the hand 19 is connected to the circuit 111 with a wiring 123. Then motors 30 and 33 of the hand 19 are driven. The circuits 110 and 111 contain a parallel/series converter and a series/parallel converter respectively. The series digital signals are transmitted and received between the controller 77 and the hand 19.