Robot control apparatus
AssigneeFanuc Corporation
InventorsHajimu Inaba, Shinsuke Sakakibara
Life of this patent
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Abstract
Disclosed is a robot control apparatus which drives a rotational drive unit (103) for rotating a robot arm about an axis of rotation. The robot control apparatus includes a rotational speed decision unit (SJC) to assure that the rotational speed of the robot arm driven by the rotational drive unit (103) will not exceed a maximum allowable speed. The rotational speed decision unit (SJC) is adapted to compute an allowable rotational speed (Ft) for an input arm length (Ra), compare the computed allowable rotational speed (Ft) with an input speed (Fin), and produce, as a commanded speed (Fc), the smaller of the two compared speeds.
Claims8
A robot control apparatus, producing a drive signal for a rotational drive unit based on commands defining position and speed, for controlling an industrial robot having an arm extendable in the longitudinal direction and rotatable about an axis of rotation by the rotational drive unit, said robot control apparatus comprising:
- a rotational speed decision unit, operatively connected to receive a current arm length and an input speed, for computing an allowable rotational speed of said arm in accordance with the current arm length, for comparing the input speed with the computed allowable rotational speed, and for delivering, as a commanded speed, the slower of the input and computed allowable rotational speeds;
- and
- a drive circuit, operatively connected to said rotational speed decision unit and to receive the input position data, for producing the drive signal from the commanded speed delivered by said rotational speed decision unit and the input position data.
Dependencies are inferred from the claim text.