| 摘要 |
PROBLEM TO BE SOLVED: To provide an acceleration/deceleration control method for articulated robot with which the allowable maximum angular velocity of every driving shaft can be easily derived without pressing the arithmetic part of a controller. SOLUTION: A minimum torque toleranceξmin is calculated by an unbalance torque Pi and a maximum allowable torque Tsplyi of a motor and a decelerator and while considering inertia Ji for it, allowable maximum angular accelerationαmaxi is calculated. Besides, after estimated maximum angular velocity Vmaxi at an intermediate positionθi <half> among plural teaching points set by teaching is calculated based on the recording information of teaching points, an estimated maximum value Cmaxi of centrifugal force and Coriolis force at the intermediate positionθi <half> is calculated. In this case, when the estimated maximum value of centrifugal force and Coriolis force is higher than a critical value (Tsplyi -Pi ), the estimated maximum angular velocity Vmaxi is corrected and this value is defined as the allowable maximum angular velocity Vmaxi . Based on the calculated allowable maximum angular acceleration maxi and allowable maximum angular velocity Vmaxi of respective driving shafts, the acceleration/deceleration of articulated robot is controlled.
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