| 摘要 |
<p>A method for determining the acceleration/deceleration time constant of a servo motor in planning the path of an industrial robot. When the time constant is determined, calculation is made taking into account the torque generated by the interference with another shaft caused when a plurality of shafts are simultaneously operated when the robot is moved along a desired path. Therefore, the path of the robot is not deviated since the torque is not saturated even when there is an influence of the interferential torque. In addition, when the influence of the interferential torque is little, a shorter time constant is given, and hence the cycle time is improved.</p> |
