Robot path error correction system
AssigneeFanuc Corporation
InventorsHajimu Kishi, Shinsuke Sakakibara, Takayuki Ito, Tatsuo Karakama
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Abstract
A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
Claims2
A robot path error correction system for performing a pulse distribution calculation along each axis in dependence upon commanded position data on the basis of velocity command pulses for accelerating and velocity command pulses for decelerating a feedrate to a commanded velocity at a predetermined time constant, and driving and controlling a movable element in a specified traveling direction, comprising:
- (a) means for sensing a remaining amount of command pulses at deceleration of said movable element;
- (b) timing deciding means for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of said velocity command pulses remaining;
- and
- (c) adding means for adding said velocity command pulses which accelerate the feedrate and said velocity command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
Dependencies are inferred from the claim text.