| 摘要 |
For controlling a robot (65) in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus (30) is set on the basis of the highest voltage, and current is supplied to a motor (60) at a robot axis from the DC-bus (30).By limiting the voltage level in the DC-bus (30) to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter (40) controlling motor currents would by mistake attempt to drive the motor (60) faster than desired by the operator. |
