| 摘要 |
PURPOSE:To prevent a vibration of a control shaft by deciding a state of a manual switch to the control shaft at every prescribed time, and executing an acceleration and a decelation by a variation of its state. CONSTITUTION:A teaching box TBbeta, etc. are connected to a beta system control means CObeta of a master robot, and it is provided with a manual switch SW, a teaching switch S, etc. corresponding to each control shaft X-beta4. Also, its memory contains a means for accelerating and decelerating the control shafts X-beta4 at a constant acceleration when an on-off state of said switch is varied. In this regard, an alpha system of a slave robot is constituted in the same way. Therefore, in case said switch SW remains an off-state and is not varied, a new command value calculated at every time DELTAT remains a command value in an off-state, and becomes like a horizontal full line of the left side from a point A in the figure. When the switch SW is varied to on from off, it is dicided and calculated, and updated and outputted N times, and a speed is controlled as the point A - the point B. |
