How to set linear interpolation acceleration / deceleration time of vertical articulated robot

摘要

The present invention relates to a linear interpolation acceleration / deceleration time setting method for a vertical articulated robot, and its object is to separately obtain a linear interpolation acceleration / deceleration time of each axis during acceleration / deceleration of a vertical articulated robot, The present invention provides a linear interpolation acceleration / deceleration time setting method of a vertical articulated robot capable of shortening the operation time of the vertical articulated robot, facilitating linear interpolation movement, and increasing productivity of the robot by setting the time.;The present invention relates to a vertical articulated robot including three main axes and three wrists, wherein a maximum linear velocity in a current position is defined as a distance from a center of rotation of each axis to a tool tip with respect to three principal axes of the vertical articulated robot Calculates the acceleration time from the calculated maximum linear velocity to the maximum linear motion in the current posture, compares the calculated acceleration time with the acceleration time of the wrist three axes, And setting the lag time as the acceleration time. The present invention provides a method for setting a linear interpolation acceleration / deceleration time of a vertical articulated robot.