| 摘要 |
<p>Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, motor means associated with the said moving member and control means capable of activating the said motor means according to a movement program to move the said moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the said motor means and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the said movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the said limit values. <IMAGE></p> |
