Robot control method based on an acceleration/deceleration time constant
First Claim
1. A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constants of servomotors, each respectively moving an axis of a robot, are set to optimum values for each block of movement of each of said axes over time, to thereby control the operation of the robot, comprising the steps of:
- determining a reaching speed from an amount of movement of a block corresponding to an amount of movement of an axis of said robot moved by a servomotor over time;
determining an output torque of said servomotor moving said axis from said reaching speed;
determining an acceleration torque by subtracting a static load torque from said output torque;
determining an acceleration from said acceleration torque and a load inertia of said servomotor;
determining an acceleration/deceleration time constant from said acceleration; and
controlling said servomotor based on said determined acceleration/deceleration time constant.
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Abstract
A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constant of a servomotor is set for an optimum value for each block, to thereby control the operation of the robot. A reaching speed (Vu) is determined from an amount of movement (X) of a block, and based on the reaching speed, a maximum torque (Tmax) of the servomotor is determined and then a static load torque (Twn) is subtracted from the maximum torque (Tmax) to determine an acceleration torque (Tan). Thereafter, based on the acceleration torque (Tan) and the load inertia of the servomotor, an acceleration (an) is determined and an acceleration/deceleration time constant (τ) is determined from the acceleration (an), and accordingly, an optimum acceleration/deceleration time constant is determined.
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Citations
5 Claims
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1. A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constants of servomotors, each respectively moving an axis of a robot, are set to optimum values for each block of movement of each of said axes over time, to thereby control the operation of the robot, comprising the steps of:
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determining a reaching speed from an amount of movement of a block corresponding to an amount of movement of an axis of said robot moved by a servomotor over time; determining an output torque of said servomotor moving said axis from said reaching speed; determining an acceleration torque by subtracting a static load torque from said output torque; determining an acceleration from said acceleration torque and a load inertia of said servomotor; determining an acceleration/deceleration time constant from said acceleration; and controlling said servomotor based on said determined acceleration/deceleration time constant. - View Dependent Claims (2, 3, 4, 5)
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Specification