| 摘要 |
PURPOSE:To simplify wiring by connecting successively between the arm controlling processor and plural circuits for joint controlling of a robot in looplike form by an optical fiber through a multiplex communication controlling circuit. CONSTITUTION:Output data of an arm controlling processor 1 that controls whole arm of a robot is converted to light through a main multiplex communication controlling circuit 7 and inputted to an optical fiber 6 for multiplex communication. Optical transmission data are converted to electric signals by local multiplex communication controlling circuits 81-8n and inputted to joint controlling circuits 21-2n. The circuit 21-2n control joint driving motors 31-3n basing on transmitted data and input joint data obtained from sensors 41-4n and control to make the angle of joint to a specified value. When joint numbers coincide, circuits 81-8n input and output by following controlling data of inputted optical signals. When they do not coincide, convert them to optical signals as they are, and transmit to next joint controlling section. |
