| 摘要 |
<p>A robot controller receives a speed command and an actual speed signal and drives a servo motor to form a drive mechanism for robot axes. A filter circuit comprising a number of load filter stages has a certain acceleration pattern and outputs a speed signal to an acceleration/deceleration circuit. The filter is selected so that the maximum acceleration value realises a good tracking accuracy whilst the variation of acceleration is small enough to maintain smooth movement. Typically, a triple-linear, a double-linear with off-set or an experimental filter is employed.</p> |
