| 摘要 |
PURPOSE:To decrease the time from the actual measurement of an angle to a speed output and to reduce the shift of locus by using an angle calculated in advance so as to obtain a coefficient adjusting an angular velocity of a joint to a maximum value or below when the angular velocity exceeds the maximum value. CONSTITUTION:An arm mechanism 1 of a robot has, e.g. six joints and a hand of the robot is moved freely in a three-dimensional space. Further, a robot control circuit 2 is provided with a servo mechanism controlling the turning of each joint angle of the mechanism 1 of the robot and a sensor reading the angle of each joint angle. Further, a processing unit 4 fetches a machine language instruction provided on a memory 5 and executes it, inputs an actual measured value of the joint angle from the circuit 2 and gives a speed command of each joint angle to the circuit 2. The coefficient K adjusting the angular velocity of the joint to a maximum value or below when the angular velocity exceeds the maximum value is obtained by using the angle calculated in advance. |
