| 摘要 |
An industrial robot has a servo system (180, 119) allowing higher-speed operation than in conventional robots. The servo system includes movable arm or arms (103, 117) pivotable about a pivot axis or axes (103a, 117a) and or movable along an axis or axes. The servo system includes at least one movable arm pivotable about a vertical axis and associated with a servo motor (104, 120) for angular displacement within a substantially horizontal plane. A servo motor for driving the horizontally pivot arm is mounted on a base frame (102) of the robot. By mounting the servo motor on the base frame (102), the load of the movable arm can be reduced significantly so as to allow the movable arm (103, 117) to be operated at higher speeds. The servo system includes controller adapted to control robot operation. The controller is programmed to actuate the working end (117b), of the robot arm (117) along a predetermined non-linear trace, in which an acceleration zone is defined in the vicinity of an initial position of the working end and a deceleration zone is defined in the vicinity of the predetermined working position and a relatively longer constant speed zone is defined between the acceleration zone and the deceleration zone. |
