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CN104995001A 工业用机器人以及工业用机器人的控制方法 有权

工业用机器人以及工业用机器人的控制方法
摘要：
在机器人(1)中，以用于使马达(15、17、19)向一方向旋转的转矩为正转矩，以用于使马达向另一方向旋转的转矩为负转矩，控制部(5)在示教结束后进行的机器人(1)的测试运转时，以比测试运转结束后进行的机器人(1)的通常运转的旋转速度低的旋转速度使马达(15、17、19)旋转，且在当测试运转时马达(15、17、19)向一方向旋转时，以比通常运转时马达(15、17、19)向一方向旋转时的转矩限制值低的转矩限制值控制马达(15、17、19)，且在当测试运转时马达(15、17、19)向另一方向旋转时，以比通常运转时马达(15、17、19)向另一方向旋转时的转矩限制值高的转矩限制值控制马达(15、17、19)。
摘要（英）：

In this robot (1), the torque for rotating motors (15, 17, 19) in one direction is defined as positive torque and the torque for rotating the same in the other direction as negative torque. During test operation of a robot (1) performed after completing teaching, a control unit (5) rotates the motors (15, 17, 19) at a speed lower than the speed during normal operation of the robot (1) performed after completion of test operation, and if during test operation, the motors (15, 17, 19) rotate in the first direction, then the motors (15, 17, 19) are controlled at a torque limiting value lower than the torque limiting value in the case of the motors (15, 17, 19) rotating in the one direction during normal operation, and if during test operation, the motors (15, 17, 19) rotate in the other direction, then the motors (15, 17, 19); are controlled at a torque limiting value higher than the torque limiting value in the case of the motors (15, 17, 19) rotating in the other direction during normal operation.

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