Title: Program control system for manipulator

Abstract: A program control system is disclosed wherein the coordinates of a plurality of specified points of a prescribed path in the space to be traced by a manipulator assembly which are spaced apart from each other by a line segment of the same unit length are stored in a storage device in a teaching mode, and one set of coordinates of the adjacent specified points are simultaneously and sequentially read out from the storage device in a repeat mode so that the position command signals or coordinates of a plurality of interpolation points between the adjacent specified points are obtained by linear interpolation and are sequentially compared, at a predetermined time interval, with the actual or present positions of the manipulator assembly. The manipulator assembly is displaced at a velocity corresponding to the difference between the position command signal and the actual or present position signal so that the difference may become zero.

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Inventors: Irie, Akiyoshi (Himeji, JA)

Application Number: 485364
Filing Date: 1974-07-03
Publication_date: 1976-03-09
Assignee: Kawasaki Heavy Industries, Ltd. (JA)
Primary Class(es): 318/568.15 219/124.34, 219/125.1, 318/568.13, 318/573, 318/625, 414/730, 700/252, 708/290, 901/3, 901/9, 901/18, 901/31, 901/42
Other Classes:
US Patent Ref:

3109092	Oct, 1963	Lott et al.	235/151.
3589134	Jun, 1971	Hackmann	214/1.
3661051	May, 1972	Dunne et al.	91/35.

Other Refs:
Primary Examiner: Botz, Eugene G.
Assistant Examiner:
Attorney: Burgess, Ryan and Wayne