| 摘要 |
PURPOSE:To reduce a wasteful time in a sequence of work, by calculating the speed command of acceleration possible to be followed by a robot considering a hand weight, and a load weight caught by a hand, and controlling the operation of the robot. CONSTITUTION:An inertial load compensating controller for an industrial robot is provided with a hand weight storing means 1, a hand open/close state storage device 2, a load weight storing means 3, and a hand open/close deciding means 4, and also, an acceleration calculating means 5 which calculates the acceleration possible to be outputted by the robot based on bits of information outputted from the above means and device, and a speed command calculating means 6 which calculates the optimum speed command based on the acceleration, are provided in the controller. And the speed command of the acceleration possible to be followed by the robot is calculated considering the weight, when the load is applied on the hand. Thus, the speed command of large acceleration is automatically set, when no load, or a light load is applied, and an operation in which the capacity of the robot is always utilized efficiently can be performed.
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