SERVO CONTROLLER, SERVO CONTROLLING METHOD, ROBOT CONTROLLER USING THESE AND ROBOT CONTROLLING METHOD

摘要

PURPOSE: To speed up a control and to stabilize the control by controlling a control object in which plural driving axes move, affecting dynamic interference actions as if the object were the system in which each driving axis does not dynamically interfere. ;CONSTITUTION: In a servo contoller 24, the command signal transmitted by a command part 25 is inputted in an acceleration/deceleration pattern generation part 26, and the output of the acceleration/deceleration pattern generation part 26 is transmitted to a servo system 27 and is transmitted to the servo system via a non-interfering calculation part 28. The acceleration/deceleration pattern generation part, 26 generates the acceleration/deceleration pattern in which the continuity of acceleration is guaranteed, and the acceleration pattern and the deceleration pattern having the symmetry (a linear symmetry, a point symmetry and a rotation symmetry, etc.,) on a time base and transmits the pattern to the servo system 27. The non-interfering calculation part 28 calculates the corrected value for canceling the dynamic inteference action that a driving axis receives from an other driving axis based on the acceleration/deceleration pattern and transmits this value to the servo system 27.;COPYRIGHT: (C)1996,JPO