| 摘要 |
PURPOSE:To prevent vibration, by executing acceleration by the time which is equal to a natural period of a robot driving system, in an accelerating point, and adjusting it suitably to acceleration immediately before attaining to a steady speed, in case when a deviation of a response signal to an object signal is out of an allowable range. CONSTITUTION:A robot is regenerated by an object signal g(t) at a selected accelerating point on a scale track, a response signal m0(t) in that case is measured, and a deviation Z0(t) to g(t) is calculated. A representative natural period t0 of a driving system of the robot is derived from Z0(t). After acceleration, a command signal C1(t) which increases a speed by time constant acceleration of the period t0 and attains to a steady speed V0 is generated. The robot is regenerated by C1(t), and a response signal m1(t) is derived. A deviation Z1(t) of the signal m1(t) to said signal g(t) is calculated, and whether the deviation Z1(t) is within an allowable range or not is decided by time >=t0. In case of being out of the allowable range, the signal m1(t) and C1(t) are time-differentiated, a speed of the time point which passes a little through the operate-forecast natural period t0 is compared, and in accordance with its result, the command signal C1(t) is corrected and is used for regenerating the robot. |
