| 摘要 |
PCT No. PCT/JP88/01241 Sec. 371 Date Jul. 5, 1989 Sec. 102(e) Date Jul. 5, 1989 PCT Filed Dec. 9, 1988 PCT Pub. No. WO89/06066 PCT Pub. Date Jun. 29, 1989.A method for acceleration and deceleration control of servomotors always brings out the maximum operating capability of a machine equipped with servomotors, such as a robot, NC machine tool, etc. and accurately moves a respective operating section of the machine, e.g., robot work point, tool, etc., along a commanded path. When a command is read from a program, the speed command value is divided by a maximum allowable (Am) of the machine, set previously, to determine a time constant (T) for acceleration and deceleration control (Step S2), and the time constant is divided by a sampling period to obtain a number (n) of times of commanded speed sampling (Step S3). The servomotor is driven at a controlled speed after the acceleration/deceleration process. The controlled speed is obtained by dividing a sum of a commanded speed of the current sampling period and commanded speeds sampled in the previous (n-1) periods preceding the current period, by the number (n) of times of sampling. Thus, accelerated and decelerated operations of the machine are always performed at the maximum allowable acceleration/deceleration, whereby the maximum operating capability of the machine is available and the respective machine operating section can be moved accurately along the commanded path.
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