INTEGRATED ADJUSTMENT METHOD OF GAIN OF MULTI-JOINT ROBOT

摘要

PURPOSE:To make a multi-joint robot draw a straight locus accurately by integratedly adjusting soft gain values which are command multiplies to servomotors for respective motion axes. CONSTITUTION:The multi-joint robot using plural servomotors is controlled by an upper control system 9. Respective joint angles of the robot are defined as theta1-theta6 respectively, the positional vector of the point of the robot is determined by the functions of the theta1-theta6 and each joint angle is obtained from a pulse encode of the servomotor. When the robot is made to draw a straight line connecting two fixed points, the positional vector of the point is found out on the basis of turning angles of respective rotary axes in each sampling time (t) on the way of the locus and the real locus can be detected by the vectors and used as data for the upper control system. The data are compared with ideal positional vectors found by calculation to find out a straight error and a value minimizing the error is determined by changing the soft gain values K1-K6 of servo amplifiers 1-7 to control the locus.