| 摘要 |
PURPOSE:To eliminate a delay of the reaction of the robot by calculating and storing optimum control parameters at respective movement points in a memory at the start of the robot, and reading them during repetitive operation and controlling a servo motor. CONSTITUTION:The robot is equipped with arms 6 and 7 and a hand 8, and servo motors 4 and 5 are driven by servo amplifiers 2 and 3 in the controller 1 to perform repetitive operation control so that an object 9 on a conveyor 10 is placed on a conveyor 11. At the start of this robot, an identification signal U is outputted from the microcomputer 21 of the controller to the servo amplifiers 2 and 3 at respective movement points of the arms 6 and 7 to obtain the current driving current signal (i) of the servo motors 4 and 5 and a speed signal (w) by a tachometer generator 24, and they are inputted as digital signals to the microcomputer 21 to calculate optimum control parameters of the robot, which are stored in the memory 22. Then, they are read out at respective movement points during operation to control the servo motors 4 and 5. |
