| 摘要 |
PURPOSE:To reduce the follow-up error and mechanical vibrations of a servo system in a relevant section by calculating the speed unit vector of a route of robot movement at a bent or corner part and multiplying said unit vector by a proper speed coefficient. CONSTITUTION:If the speed of a work 2 is set at V1 at a corner part, a controller 4 calculates the speed unit vector on a route at a working point 3. Then said unit vector is multiplied with a speed coefficient for calculation of a shift amount per unit time of each axis. This calculated shift amount is used as the drive data and given to servo controllers 20-24. Then drive motors 25-29 are revolved by amounts corresponding to axes alpha and beta in order to change the postures of axis X, Y and Z as well as a torch. |
