| 摘要 |
<P>PROBLEM TO BE SOLVED: To enhance practicability of a control device which obtains a control pattern for operating a robot at higher speed. <P>SOLUTION: The control device 20 drives a robot arm between a first attitude and a second attitude to detect each continuous value of a speed, an acceleration, and a supply current at each servo motor 31; computes a current ratio which is a ratio of a current value to an upper-limit value in each predetermined period at each motor 31; selects a maximum current ratio from among the current ratios of each motor 31 to compute a revised acceleration of each motor 31 based on an inverse number of this maximum current ratio; repeatedly computes a revised speed at each motor 31 based on the revised acceleration and the speed of each motor 31; repeatedly computes a revised rotating position at each motor 31 based on the revised speed and a rotating position of each motor 31; and sets a speed fluctuation pattern after revision based on the revised speed computed from a first attitude side and the revised speed computed from a second attitude side. <P>COPYRIGHT: (C)2012,JPO&INPIT |
