DEVICE FOR REDUCING OSCILLATIONS OF A ROBOT

摘要

The invention relates to a device for reducing oscillations of a robot. An acceleration pattern is subjected to Fourier transform to provide a power spectrum distribution. A component of a resonant frequency (fn) is removed from the power spectrum distribution to provide a further power spectrum distribution for redeeming an acceleration pattern. The acceleration pattern thus found is integrated to provide a speed pattern. Then an acceleration and deceleration time corresponding to a taught velocity is found, and various axes of the robot are controlled in accordance with the velocity pattern which corresponds to the acceleration and deceleration time thus read out.