| 摘要 |
<p>1525839 Programmed control system CINNCINNATI MILACRON Inc 13 Sept 1976 [12 Sept 1975] 37888/76 Heading G3N A programmed control system, e.g. for a robot arm 10, modifies the program instructions in dependence on the movements of a workpiece 12 away from a datum position 11, e.g. through being on a conveyer belt Fig. 8 (not shown). Feedback circuit 14 produces signals representing the magnitude and direction of unprogrammed changes in the workpiece position and these are stored in position store 52. Incremental position store 54 gives the unprogrammed position change between interrupt signals generated by unit 22. The instructions pass via data processor 30 where they are modified by the contents of stores 52 and 54 to buffer store 24 where they are queued. The stored modified instructions are then executed by servo drive and interrupt circuit 22 which controls the robot arm 10. The arm 10 can be taught as described in British Specification 1481134 and a manually operable console 40 with simulation facilities is provided.</p> |
