| 摘要 |
<p>A method of controlling first and second arms (11), (12) of a multi-joint robot, in which the first arm (11) is supported pivotably on a robot body (1) via a first joint with the second arm (12) supported pivotably on the first arm (11) via a second joint. When the outer end of the second arm (12) is moved from a point Pi to a subsequent point Pi+1, the curves of angular velocities during the acceleration and deceleration are determined on the basis of the positioning data on the two points Pi, Pi+1 so that the shortest acceleration time and deceleration time can be attained with all of the torques applied to motors (13), (14) and decelerators (15), (16) within tolerance limits. This method enables the time of movement of the arm to be reduced greatly and naturally as compared with a conventional method of this kind in which the acceleration and deceleration time is fixed.</p> |
