Matsushita Electric Industrial Co., Ltd.

Kazuo Soji

Hiroyuki Nagano

Toshio Saito

Kenzo Matsumoto

Method for controlling an articulated robot

A cycle timer comprises an angle encoder for converting an mechanical angle information into an electrical angle information, a memory unit for storing timing information and a control program for setting an output if the angle information falls within an on region of predetermined timing information and for resetting the output if the angle information falls within an off region of the predetermined timing information, an arithmetic processing unit for reading out and outputting from the memory a timing condition of the information which has been outputted from the angle encoder, and a latch circuit adapted to be selectively set and reset one at a time in response to the output from the arithmetic processing unit.

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Kadoma, Japan

Kazuo Soji