Method and device for optimum parameter control of controllers for rotational and/or linear movements in one or more degrees of freedom in an industrial robot

摘要

An industrial robot has a position controller (PR) for each one of the axes of the robot and a computer for control of the robot. The computer continuously determines, with the aid of a mathematical model (MODEL) set up in advance, in dependence on the robot configuration (0i) and load (mL) in question, the mass moment of inertia (Ji) of the axes, the coupled mass moment of inertia (Jij), and the moment (Mgi) caused by gravity. From the relationships between acceleration and deceleration and the drive motor torque for the different axes, the maximum available acceleration/deceleration ( i) for the axis is determined while assuming that maximum torque prevails for each axis. For each axis this value (STABCRIT) is compared with the maximum acceleration/deceleration value that may be allowed from the point of view of stability. On the basis of the lower of these values, optimum gain (Kpi) is determined and set in the position controller and/or a path planning parameter.