Controller for industrial robots

摘要

A controller for industrial robots with Robot Language and Off-line teaching system is proposed. The following functions are necessary for industrial robot controller. 1)Operating system for man-machine interface and real-time monitor with robot language. 2)Generation of reference signals of each joint. 3)Servo control system of each joint. 4)Off-line teaching and simulation system. The important demand for the industrial robot controller is that the controller has the high performance control system to manipulate robot arms smoothly, and convenient interface system between machine and man or sensor systems. A new robot controller with above functions are developed and its detail is described.