| 摘要 |
The optimum parameter control method uses a computer to continuously determine with the aid of a mathematical model (MODEL) set up in advance, in dependence on the robot configuration and load in question, the mass moment of inertia (Ji) of the axes, the coupled mass moment of inertia (Jij) and the moment (Mgi) caused by gravity. From the relationships between acceleration and deceleration and the drive motor torque for the different axes, the maximum available acceleration/deceleration for the axis is determined while assuming that maximum torque prevails for each axis. For each axis this value (STABCRIT) is compared with the maximum acceleration/deceleration value that may be allowed from the stability point of view. On the basis of the lower of these values, optimum gain (Kpi) is determined and set in the position controller and/or a path planning parameter. |
