Control method for articulated robot

Abstract

Abstract PURPOSE:To ensure the smooth actions of a robot at pass points by deciding a certain ratio for correction so as to secure a smooth locus of the robot tip and therefore calculating the new displacement value for execution of the acceleration/deceleration control. CONSTITUTION:A main control part 2 of a controller 1 calculates an interpolation command 6 serving as the position and speed information for each interpolation and sends it to a servo control part 3. The part 3 performs the acceleration/ deceleration control only for pass points based on the information on the teaching points and then fractionizes the command 6 to produce a speed command 7. This command 7 is converted into a motor command 8 by a servo amplifying part 4 for drive of a manipulator 5. In other words, a certain ratio is decided for prescribed correction so that a smooth locus is secured for the tip of a robot. Thus the new displacement value is calculated for control of the acceleration/deceleration. As a result, the robot tip has a smooth locus and at the same time each axis also has the smooth speed change. Then the fast and smooth actions are secured for the robot.

Inventors

• 👤 理 ▲高▼橋
• 👤 Osamu Takahashi

Bibliographic Details