| 摘要 |
<p>The optimal time constants of the acceleration and deceleration of a servo motor are determined by the amount of movement, load, and others, thereby to shorten the operating time of a robot. A method for controlling the operation of a robot by determining the optimal values of the time constants of the acceleration and deceleration of a servo motor for every block, comprises the following five stages. In the first stage, it is determined whether or not the speed can arrive at the instructed speed based on the distance to the target position of movement (S1), the instructed speed is taken as speed V when it is determined that the speed can reach the instructed speed (S2), the speed at which the robot can actually arrive is obtained when it is determined that the speed cannot reach the instructed speed (S3), and the speed thus obtained is taken as speed V (S4). In the second stage the output torque corresponding to speed V is obtained by a speed and torque curve (S5). In the third stage, the accelerating torque and decelerating torque are obtained by subtracting the static load torque from the output torque (S6). In the fourth stage, the accelerations at the time of acceleration and deceleration are determined (S7). In the last stage, the time constants of acceleration and deceleration are determined from the acceleration and speed V (S8), and the acceleration and deceleration time constants which are the greatest absolute values on the respective axes or the optimal values are determined (S9).</p> |
