METHOD OF CREATING S-SHAPED ACCELERATION/DECELERATION ORBIT AND ARTICULATED ROBOT SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a method of creating an S-shaped acceleration/deceleration orbit shortening the operating cycle time of a robot and reducing excessive load on mechanisms and motors while suppressing vibrations produced during acceleration or deceleration to the minimum, and also to provide an articulated robot system. SOLUTION: A temporary S-shaped acceleration/deceleration orbit for a reference joint axis is created, wherein a time tm1 when the velocity is maximized in a section where the acceleration becomes the maximum, or a time tm2 when the velocity is maximized in a section where the acceleration becomes the minimum is calculated. Then, using a preset dynamics model, an estimated torque τ of each joint at the time tm1 or the time t2m is calculated. Subsequently, while maintaining the time of the S-shaped acceleration reaching time constant, the modified maximum or minimum acceleration of the reference joint axis is found such that the estimated torque τ found using the dynamics model becomes a preset target torque τtg. COPYRIGHT: (C)2011,JPO&INPIT