发明名称 |
ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT. |
摘要 |
<p>An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant ( tau ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.</p> |
申请公布号 |
EP0484551(A1) |
申请公布日期 |
1992.05.13 |
申请号 |
EP19910909370 |
申请日期 |
1991.05.15 |
申请人 |
FANUC LTD. |
发明人 |
TORII, NOBUTOSHI;NIHEI, RYO 7-210, FANUC MANSION HARIMOMI;NAITO, YASUO 7-205, FANUC MANSION HARIMOMI;KATO, TETSUAKI 8-101, FANUC MANSION HARIMOMI;KINOSHITA, SATOSHI 9-306, FANUC MANSION HARIMOMI |
分类号 |
B25J9/10;B25J9/16;B25J9/18;G05B19/416;G05D3/12 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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