发明名称 |
Controlling method and apparatus for positioning a robot |
摘要 |
A controlling method and a controlling apparatus both for positioning a robot are provided that can output an optimal speed instruction for controlling a residual vibration after completion of a moving operation, achieve reduction in tact Lime for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), comprising: performing a test operation to measure a frequency of a residual vibration of the robot (1) that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance of the robot (1) to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which the magnitude of the vibration becomes a minimum value; and performing the point-to-point operation of the robot (1) for the calculated shortest moving time, thereby to position the robot (1) at the target position.
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申请公布号 |
US2003083783(A1) |
申请公布日期 |
2003.05.01 |
申请号 |
US20020149400 |
申请日期 |
2002.06.11 |
申请人 |
MATSUO SEIICHI;TANAKA YOUICHI;KUROKAWA TAKAHIRO;YANACHI SEISHIRO |
发明人 |
MATSUO SEIICHI;TANAKA YOUICHI;KUROKAWA TAKAHIRO;YANACHI SEISHIRO |
分类号 |
B25J9/10;B25J9/16;G05B19/00;G05B19/19;G05B19/416;G05D3/12;(IPC1-7):G06F19/00 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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