Robot controller

Abstract

Abstract PURPOSE:To shorten the working time of a robot by designating the maximum speed for each joint to shift the joint requiring the maximum shift time at the relevant maximum speed and at the same time ensuring a smooth speed change at a designated bypass point. CONSTITUTION:A key joint selecting part 60 selects the present point, a bypass point, a target point and a joint where the maximum shift speed is secured at each section based on the prescribed maximum speed of each joint of a robot arm 20. A track generating part 70 calculates the acceleration, the equi- speed, the deceleration and a track pattern of a bypass action needed for the shift of each section at the present, bypass and target points respectively. A generated pattern selecting part 80 switches the generated patterns as necessary and outputs them to the key joint of the arm 20. The associated joint of the arm 20 works based on a command given from an other-joint track generating part 90. In such constitution, the joint requiring the maximum shift time is moved at the relevant maximum speed and at the same time a smooth speed change is secured at a designated bypass point. Thus the working time of the robot is shortened.

Inventors

• 👤 Takaharu Matsumoto
• 👤 松本　高治
• 👤 Akimasa Fujimoto
• 👤 藤本　晃正

Bibliographic Details