公开(公告)号：US6084374A

公开(公告)日：2000-07-04

申请号：US159624

申请日：1998-09-24

申请人： Takashi Nakatsuka ,  Atsumi Hashimoto ,  Yasushi Mukai ,  Kazuhito Ochiai

发明人： Takashi Nakatsuka ,  Atsumi Hashimoto ,  Yasushi Mukai ,  Kazuhito Ochiai

IPC分类号： G05B13/02 ,  B25J9/10 ,  G05B20060101 ,  G05B19/19 ,  G05B19/416 ,  G05D3/12

CPC分类号： G05B19/416 ,  B25J9/1638 ,  G05B2219/41151 ,  G05B2219/43099

摘要： The controller comprises (a) an interpolation calculator for dividing move data of a robot arm tip position into each sample period, the data fed from a position teaching section, (b) a load inertia calculator, (c) a gravity torque calculator, (d) acceleration and deceleration (A & D) time calculator for calculating an optimum A & D time by using the load inertia calculated by the load inertia calculator and the gravity torque calculated by the gravity torque calculator, (e) an A & D processor for providing an A & D process to move data of each sample time calculated by the interpolation calculator based on the A & D time calculated by the A & D time calculator, and (f) position controllers for controlling each motor based on the move data processed by the A & D processor. The A & D time is calculated with the following equation:T=.alpha..multidot.(J.sub.m +J.sub.L)/(T.sub.m -T.sub.L).multidot.Vwhere: V=desirable speed, J.sub.m =motor inertia, J.sub.L =load inertia, T.sub.m =motor torque, T.sub.L =disturbance torque including gravity torque, .alpha.=proportional coefficient and T=A & D time. The robot having the above construction can figure out an optimum A & D time by considering change of load inertia and also that of gravity torque produced by a posture change of the robot, whereby A & D time can be varied. As a result, the robot can be operated at a higher speed.

摘要翻译： 控制器包括：（a）插入计算器，用于将机器人臂尖位置的移动数据分割成每个采样周期，从位置示教部分馈送的数据，（b）负载惯量计算器，（c）重力矩计算器， d）加速和减速（A＆D）时间计算器，用于通过使用由负载惯量计算器计算的负载惯量和由重力矩计算器计算的重力矩来计算最佳A＆D时间，（e）A＆D处理器 用于提供A＆D处理以基于由A＆D时间计算器计算的A＆D时间来计算由插值计算器计算的每个采样时间的数据，以及（f）基于移动数据控制每个电动机的位置控制器 由A＆D处理器处理。 A＆D时间用以下公式计算：T =αx（Jm + JL）/（Tm-TL）xV其中：V =期望速度，Jm =电机惯量，JL =负载惯量，Tm =电机转矩，TL =干扰转矩，包括重力矩，α=比例系数，T = A＆D时间。 具有上述结构的机器人可以通过考虑负载惯量的变化以及由机器人的姿势变化产生的重力矩的变化来确定最佳的A＆D时间，从而可以改变A＆D时间。 结果，机器人可以以更高的速度运行。