| 摘要 |
PURPOSE:To secure the lineary of control and the movement route of a robot all the time by detecting a rotational angular speed supplied to a rotating shaft in response to a command value for the rotating shaft, and limiting it to a specific value only when the detected value exceeds the specific value. CONSTITUTION:A position calculating part 11 inputs a robot operation command (a) to calculate a position on a straight line expressed by an orthogonal coordinate system so as to put the robot body in linear motion, converts it into the angle of each rotating shaft of the main body, and output angle data (b) on each rotating shaft periodically. An angle control part 12 divides the straight route up to the position expressed by the data (b) by a specific number and outputs division angle data (c) for moving the robot to a terminal point of each divided route. Then when the calculated angular speed of each rotating shaft exceeds the limit value, a next angle position is limited to a smaller value. A servocontrol part 13 operates an actuator according to the data (c) and controls each rotating shaft to the angle expressed by the data (c) to control the guidance to a specific position. |
