| 摘要 |
PURPOSE:To perform high-precision control with respect to track commands by using preliminarily stored load information at an operation time to calculate and compensate the moment of inertia and the torque of gravity on the supposition that the load of robot hands is added to the mass of a robot body. CONSTITUTION:At an operation time, a robot 1 reads out a stored load number in the section from a certain teaching point to the next teaching point and indexes a memory table with the load number to read out the moment of inertia and variable constants a2, a3, a4, and a5 for gravity calculation. An operation processing circuit of a robot controller 2 uses these variable constants to operate the moment of inertia and the torque of gravity in every interpolating step, and control variable constants of individual driving systems are compensated in accordance with the results. As the result, the torque of gravity which acts as a load torque of each driving system is compensated completely, and the gain of a speed control system is so adjusted that the variance of the moment of inertia can be compensated. Thus, the response characteristic of each axial servo system is kept constant to perform high-precision track control. |
