Robot controller

Abstract

Abstract PURPOSE:To realize the work shift control at a high speed and with high accuracy with use of a small memory capacity by controlling both position and speed gains of a control system in response to the attitude and the speed of a robot for smooth changes of both gains. CONSTITUTION:In a position feedback control system including a speed control loop serving as a minor loop, not only the speed gain Gv but the position gain Gp is handled as the variables. These variables are defined as the prescribed functions of the positions of actuators M1-M6 respectively. Thus both gains Gv and Gp are set in consideration of the change of the moment of inertia of each joint. These gains Gv and Gp are stored in memories N1-N6 in the form of simple functions. Then these gains are smoothly changed in response to the attitude and the speed of a robot. Thus the satisfactory servo response characteristics are secured over an entire working area of the robot. As a result, a smooth working action of the robot is attained at a high speed and with high accuracy with use of a small memory capacity.

Inventors

• 👤 Akira Nakazumi
• 👤 Nobuaki Imamura

Bibliographic Details