| 摘要 |
PURPOSE: A synchronous control device for a robot having a Cartesian coordinate system is provided to control respective motors in synchronous after the correction of axes X1 and X2 so as to reduce the suspension and vibration of axis Y caused by the axes X1 and, X2. CONSTITUTION: A synchronous control device for a robot having a Cartesian coordinate system is composed of a first and a second motor(11,41) for driving axes, a first and a second encoder(12,42) for encoding the rotation of the first and second motor, a first and a second position detector for detecting the position and velocity of the respective motors, and a motor controller. The motor controller comprises an error corrector(100) for calculating position and velocity differences between the first and second motor so as to calculate the corrected position and velocity for respective motors, a first PID(Proportional, Integrate, Derivative) control unit(120) for controlling the first motor according to a PID value from the corrected data and a position/velocity error data of the first motor, and a second PID control unit(150) for controlling the second motor according to a PID value from the corrected data and a position/velocity error data of the second motor.
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