Programmable industrial robot with path control - has actuators co-ordinated by signals from differential operational amplifiers

摘要

The industrial robot with six actuators includes a programming facility to provide relative motion control along a predetermined path. The robot has a gripper (G) mounted with a hand swivel (A1), rotation unit (C2) and three rotary actuators (B1,B2,B3) for vertical motion. The entire unit may be pivotted in the horizontal plane by a base rotary table (C1). Each actuator is controlled by an operational amplifier that receives differential signals from a number of setting potentiometers. The difference signals are amplified to provide co-ordinated incremented speed signals to produce a given path motion.