ACCELERATION-DECELERATION TIME DECIDING METHOD AND ACCELERATION-DECELERATION CONTROL METHOD FOR ROBOT

摘要

PROBLEM TO BE SOLVED: To calculate an optimum acceleration-deceleration time for robot even when an operation speed does not reach a command value because an operation distance is short. ;SOLUTION: Each shaft operable acceleration-deceleration parameter is stored in a parameter storage area 13 and an acceleration-deceleration time operating part 14 obtains a temporary acceleration-deceleration time from the operation speed of each drive shaft which is taught at each teaching point and the acceleration- deceleration parameter when the value which is divided the value of a load torque component that is influenced by an adjustable speed by the value which is subtracted the value of a load torque component that is not influenced by the adjustable speed from the value of allowable peak torque of a drive shaft. The operation speed at the time of the maximum acceleration-deceleration is estimated from the acceleration- deceleration time and the response model of a servo system, and the acceleration- deceleration time is obtained by calculating a load torque component that generates at each shaft from the position of each drive shaft which is taught at each teaching point, an operation direction, an estimation operation speed, the mass of each shaft of a robot and the position of a center of gravity.;COPYRIGHT: (C)1999,JPO