ANGULAR ACCELERATION CONTROL METHOD

摘要

PURPOSE:To attain the optimum acceleration by compressing and enlarging two elements, i.e., the acceleration/deceleration and the maximum rotational frequency based on a standard acceleration curve and a standard deceleration curve. CONSTITUTION:Both standard acceleration and deceleration curves are previously stored in a program with the angular speed control of the 1st and 2nd arms of a multi-joint robot. When the program is run, the speed control is treated by the algorithm as shown in the figure. This angular acceleration control is optimized when the load torque of each element is less than each allowable value and also the shift is through in the minimum time. Therefore an optional load torque is kept under its allowable value in an acceleration mode and one or more of those optional load torques are equal to the allowable value. So is with a deceleration mode. At the same time, ai-ci with which the sum of shift pulses of an acceleration mode is equal to these of the deceleration mode are led. The optimum acceleration/deceleration is carried out for each action. Thus the optimization processing time is shortened.