| 摘要 |
A method and apparatus for controlling the acceleration of the frequency at the beginning of a pulse train and the frequency at the end of the pulse train, so that a movable element with little rigidity, such as a robot arm, can be started and stopped smoothly without vibration. The method includes storing frequency function in a memory, which frequency function represents an acceleration characteristic or a deceleration characteristic, reading the frequency function out of the memory at a predetermined interval, computing a frequency at the present time, and generating a number of pulses, corresponding to the product of the computed frequency and the predetermined time interval, during the predetermined time interval.
|
