| 摘要 |
PCT No. PCT/JP96/01819 Sec. 371 Date Feb. 28, 1997 Sec. 102(e) Date Feb. 28, 1997 PCT Filed Jul. 1, 1996 PCT Pub. No. WO97/01801 PCT Pub. Date Jan. 16, 1997A method of setting an accelerating/decelerating motion of a robot, in which a torque of the robot can be used efficiently without being saturated. In one section of motion, a moving ratio r representing a position which satisfies a condition such that a maximum torque is generated at a position where the maximum torque is needed, is successively and approximately obtained. First, a 0-th approximate solution (initial value) is assumed as ir0=0, and then equations of motion are calculated at the position ir0 to obtain an acceleration so as to generate the maximum torque. The position such that the torque becomes maximal when the calculated acceleration is used is obtained as irk+1. The difference |irk+1-irk| between the calculated irk+1 and the previously calculated irk is calculated, and it is checked whether or not the difference exceeds a preset very small value epsilon . If yes, the processing returns to S3. If no, it is determined and stored as irsol=irk+1, the index i is increased by 1 and k is cleared as k=0. If calculation for all the axes has not completed, the processing returns S1. Upon completion of calculation for all the axes, the processing proceeds to S7. In S7, the maximum of irsol is defined as rsol, an acceleration in accordance with rsol is obtained for each axis, and a condition for the accelerating motion of each axis is set.
|
