TEACHING METHOD OF INDUSTRIAL ROBOT

摘要

PURPOSE:To shorten the teaching time required for an industrial robot by setting the driving torque and the rotational frequency of a motor at specific values against the set speed at the tip of a robot hand and the set acceleration and setting automatically both said hand tip speed and acceleration in comparison with the basic characteristic value of the motor. CONSTITUTION:The holding weight of a robot hand is supplied and then an end point position is supplied manually via a start point position and an intermediate position. Then the start point and the end point are connected with a prescribed interpolation curve to set a shift locus of the robot hand. Based on this shift locus data, both the driving torque which affects a motor and the rotational frequency of the motor are calculated by means of a dynamics model of the robot. These calculated values are compared with a torque-speed characteristic curve which is decided by the motor. Then the speed and acceleration are calculated for the robot hand tip so that the maximum performance is secured with the motor. Then these speed and acceleration are set automatically. This method eliminates a conventional trial-and-error operation.