SPEED CONTROL METHOD FOR ROBOT DRIVING MOTOR

摘要

PURPOSE: A speed control method for robot driving motor is provided a trajectory plan profile and a jerk to have the continuous value of a smooth curve, and reduce the vibration and noise of a motor. CONSTITUTION: A speed control device for a robot driving motor comprises; a motor which drives a robot; a location controller which controls the motor; and a main controller which generates a trajectory plan profile of a smooth curve to control the motor in case that a robot operating command is inputted from a user, and then sends to location controller. The speed control method comprises the step of generating the trajectory plan profile having a jerk of the smooth curve within certain robot-control-space to control the robot in real time. The step of generating the trajectory plan profile comprises the step of preparing the operation-control by calculating the amount of a location change deltaP, the maximum number of intervals TPmax and the number of accelerated intervals TAmax.