Servo controller and servo control method as well as the robot controller and the robot control method using these relating to close and / or follow-up control of the moving object

摘要

PROBLEM TO BE SOLVED: To unify the control of approach and track to the object whose moving route can not be predicted and the control for moving the working end to be controlled to a static object or a fixed position. ;SOLUTION: When a command means 2 in a servo controller 1 generates a start command for approach to a moving object or follow-up control, a control command value calculating means 5 calculates a control command value to the operation end to be controlled so that a difference between the positional information of the moving object detected by the moving object detecting means 3 and the positional information of the working end to be controlled becomes zero. The servo controller 1 is also provided with a TP value determining means 6 for finding out peak speed arrival time TP from a control command value, an value determining means 9 for determining the value of a time base extending/reducing parameter defined by dividing the TP value by its reference value, a T_f value determining means 7 for finding out bending time T_f related to a lamp position command from the control command value, and a modulation signal generating means 8 for generating a modulation signal by generating a lamp signal based upon the T_f value and superposing the position changing variable of the moving object to the lamp signal. An acceleration/deceleration pattern generating means 11 generates an acceleration/deceleration curve by controlling the height of the peak of an acceleration/deceleration curve or the width in a time base direction.;COPYRIGHT: (C)1997,JPO