| 摘要 |
<p>A robot control system for positioning the movable unit of a robot at an instructed position by driving a fluid driving mechanism (1) comprising: a fluid drive control mechanism having a deceleration valve (41) for decelerating the speed of the fluid driving mechanism by reducing the quantity of exhaust gas, and normal and reverse direction solenoid valves (21) and (31) for driving the fluid driving mechanism (1) in normal and reverse directions respectively, detecting means (101, 105) for detecting the position of the movable unit, and a control unit (108) for calculating the difference between the instructed position ( alpha c) and the present position ( alpha a) the detected movable unit, decelerating the fluid driving mechanism (1) by operating the deceleration valve (41) when the difference becomes equal to a first preset value n1, operating both the normal and reverse direction solenoid valves (21, 31) for a prescribed period of time when the difference becomes equal to a second preset value n2(<n1) and operating a brake (6) to stop the fluid driving mechanism (1).</p> |
