SERVO CONTROL DEVICE AND SERVO CONTROL METHOD RELATED TO APPROACH AND/OR FOLLOW-UP CONTROL TO MOVING OBJECT, AND ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD USING THESE CONTROL DEVICE AND METHOD

摘要

PROBLEM TO BE SOLVED: To perform approach and follow-up control to an object even in the case of the moving path of the object being unpredictable without causing a considerable burden on the control object in consequence. ;SOLUTION: A servo control device 1 has a command means 2 for outputting a start command of control related to approaching action and follow-up action to a moving object, and a moving object detecting means 3 for detecting the moving state of the moving object. A control command value computing means 5 obtains the control command value to the action end of a control object in order to make the action end of the control object coincide with the moving object. A Tp (peak speed arrival time) value determining means 6 determines time for an acceleration/deceleration curve related to the control object to reach the peak speed from the obtained control command value, and the Tp value is divided by the reference value to determine the value of a time axis expansion parameter An acceleration/deceleration pattern forming means 9 forms the acceleration/deceleration curve by changing the crest height and time axis direction width of the acceleration/deceleration curve on the basis of the control command value from the control command value computing means 5 and the time axis expansion parameter value, and sends it out to the control object 11.;COPYRIGHT: (C)1997,JPO