Asymmetric acceleration and deceleration profile producing method and a acceleration and deceleration controlling method using the same for multi-joint robot

摘要

PURPOSE: A method for generating the asymmetric accelerated/decelerated velocity profile of an articulated robot and a method for controlling accelerated/decelerated velocity are provided to simplify the processes of generating the velocity profile and to shorten calculating hours by using an asymmetric smooth-curve and tabulating the variation of the velocity of a motor. CONSTITUTION: A method for generating the asymmetric accelerated/decelerated velocity profile of an articulated robot comprises the steps of: asymmetrically setting the pattern of accelerated velocity in an accelerating section; and using a variation value of the velocity on each sampling section, and calculating the position of each articulation shaft on each sampling section of the accelerating section. The variation value of the velocity is calculated in advance, and is stored in a table.