| 摘要 |
PURPOSE:To shorten the moving time by controlling an angular acceleration so that the torque applied to a motor of the first and the second arms becomes the maximum within the allowable range, at the time of slow-up, etc., based on an inputted positioning data. CONSTITUTION:A robot is constituted of a support 1 of a main frame, the first - the second arms 11, 12, and motors 13, 14 for driving them, etc., and it is controlled through a driving circuit part 2 by a numerical control device 3. This control device 3 is constituted of an arithmetic unit 31, a storage device 32 and a speed command device 33, determines at every operation an angular velocity of the motor of the time of slow-up, etc. from a positioning data in the storage device 32, and executes a driving control. Its angular velocity control inputs a data of a standard slow-up/down curve and two points, the optimum slow-up(down) time is derived by an optimizing method from the allowable maximum torque, etc. of the first and the second motors, also its curve is derived, and it is executed repeatedly.
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