Robot path error correction system

摘要

PCT No. PCT/JP85/00724 Sec. 371 Date Aug. 14, 1986 Sec. 102(e) Date Aug. 14, 1986 PCT Filed Dec. 26, 1985 PCT Pub. No. WO86/04162 PCT Pub. Date Jul. 17, 1986.A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.