Method for controlling movement of robot over clock time, involves distributing individual movements of robot over clock time, and computing energy-optimized trajectory profile with optimum velocities and accelerations based on data

摘要

The method involves distributing individual movements of a robot over a clock time. An energy-optimized trajectory profile with optimum velocities and accelerations is computed based on the existing data e.g. current clock time, distance of measuring points and measuring times at the measuring points. Various axes of the robot are executed with a time progressive rate, where velocity of the movement of a robot is applied on an ordinate. The axes are accelerated and stopped, and the movement of the robot is accelerated from a standstill to maximum speed in specific periods (t1, t2).