Abstract: A robot control system has a robot hand movable along a plane according to position data determined in terms of an absolute coordinate system related to the plane for acting on a workpiece which is arbitrarily positioned on the plane and which is provided with a linear reference pattern. The robot hand is swept along a predetermined locus on the plane according to programmed position data to determine the position of the workpiece. A detector mounted on the hand moves relative to the plane together with the hand for detecting the linear reference pattern whenever the hand crosses the linear reference pattern during the sweep movement of the hand to produce a corresponding detection signal.

Abstract: A system that utilizes a robot for a loading operation of articles of works in a machine; a depalletizing operation for taking out the articles or the works one by one which are stacked up in a magazine at an assembly work station and a palletizing operation for stacking up the articles or the works one by one which are machined or assembled.

Abstract: A robot control system comprises a hand movable along a plane according to position command data determined based on an absolute coordinate system arranged along the plane, and rotatable around an axis vertical to the plane according to angular command data determined with respect to a base axis of the absolute coordinate system for working a workpiece at a certain working point thereof with a certain angular position of the hand. Input means inputs working point data representative of the working point in terms of a local coordinate system arranged on the workpiece, angular position data representative of the angular position of the hand at the working point determined with respect to a base axis of the local coordinate system, and position data of the workpiece located along the plane in terms of the absolute coordinate.

Abstract: A digital servo device having a servomotor with a feedback control device including a position detector. The detector detects the phase relationship among the various signals. The detector is a flip flop located between an AND gate and a differentiation circuit. The flip flop is connected to be set by a predetermined point detecting signal output from the AND gate and the flip flop is connected such that the positive and reverse direction command pulses are inhibited from being produced by locking a receiving shift register in response to an output signal from the flip flop. The feedback circuit is reset by a reset signal which comprises a differentiated output signal of the flip flop which has a pulse width wide enough for obtaining a resetting condition but not so wide that the next positive and reverse direction detecting pulses are extinguished.

Abstract: In a positioning control apparatus for use in a positioning device which operates in response to input pulses in accordance with the speed and the number of the pulses, a PI amplifier is connected in a control loop. The integral factor I of the PI amplifier is temporarily removed therefrom when a speed feedback signal more than a predetermined level is produced. As a result, hunting operation can be eliminated without the use of expensive semiconductor circuitry with excellent offset characteristics.

Abstract: By using the fly-wheel current effectively, the d.c. servo motor current can be rapidly decreased when the circuit becomes non-driving state or the driving polarity is changed, and the inexpensive circuit of the high performance driving circuit, in which the form factor of the driving signal is improved, can be obtained.