OPTIMAL ACCELERATION/DECELERATION CONTROL METHOD OF ROBOT

摘要

PURPOSE: An optimal acceleration/deceleration control method of a robot is provided to calculate a moving locus for moving a robot to a position indicated by a user, thereby obtaining a cheap hardware device in controlling the robot. CONSTITUTION: An optimal acceleration/deceleration control method of a robot comprises the steps of: dividing a movement section of the robot into plural sections; drawing an acceleration/deceleration graph according to a velocity of a robot at a required section with respect to a maximum velocity of respective axes of the robot at respective sections; calculating a switching curve having acceleration, deceleration, and switching forms to an entire movement section of the robot; and commanding the robot to move at respective sampling periods of a robot controller based on the switching curve.