Servo controller and servo control method as well as the robot controller and the robot control method using these

摘要

PROBLEM TO BE SOLVED: To generate an acceleration/deceleration curve, whose shape is specified by the critical performance of a controlled system, and to unify the algorithm of that generation. SOLUTION: At a servo controller 1, a peak velocity attaining time (Tp ) value deciding means 4 receives a command value issued by a commanding means 2 and decides the time Tp required for the velocity to reach the peak velocity from this value through the acceleration/deceleration curve. Then, an value deciding means 5 decides the value of a parameter () for time base elongation/contraction as the function of non-dimensional quantity defined by dividing the value of Tp with its reference value and sends it to an acceleration/deceleration pattern generating means 3. The shape of acceleration/deceleration curve is specified by a critical characteristic line common for the respective driving axles of the controlled system, the peak velocity attaining time related to the reference function of this acceleration/ deceleration curve, and is defined as the reference value of parameter () for time base elongation/contraction, and the acceleration/deceleration curve is generated and sent to the controlled system by performing the elongating/controlling operation of time base direction to the reference function based on the value and performing a magnifying operation to the reference function value based on the command value from the commanding means 2.