ACTION CONTROLLER FOR MULTI-JOINT ROBOT

摘要

PURPOSE:To control the arm of a robot to its target locus with high accuracy and at the same time to improve the operating speed of the arm, by giving the feedforward compensation to the target value when the slide state is controlled. CONSTITUTION:The target joint angle signals delivered successively from a target joint angle output means 1 undergo the feedforward compensation through a feedforward compensating circuit 2. These compensated angle signals are supplied to a servo mechanism 12 which is controlled by a compensated slide state control means 17. Thus a robot arm is gradually controlled to its target angle during its high-speed operation. Then the arm locus is coincident with its target one with high accuracy. In such a way, the arm locus can be controlled to its target one with high accuracy and at the same time the arm operating speed can be increased.