US 4,754,392 AGranted

Uniform velocity control method

AssigneeFanuc Corporation

InventorsSeiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara, Haruyuki Ishikawa

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Abstract

A uniform velocity control method for rotating a first movable element (3) at a uniform velocity in a rectilinear-to-rotational motion converting mechanism, in which a second movable element (2c) is moved along a linear shaft (2a) and the first movable element is rotated in dependence upon rectilinear movement of the second movable element. The uniform velocity control method includes (1) a second step of monitoring a position of the second movable element along the linear shaft; (2) a second step of calculating a traveling velocity of the second movable element, which traveling velocity is for rotating the first movable element at a uniform velocity, in dependence upon the position of the second movable element along the linear shaft; and (3) a third step of moving the second movable element at the calculated traveling velocity to make the rotational velocity of the first movable element uniform.

Claims6

Dependent claims

A uniform velocity control method for rotating a first movable element at a uniform velocity in a rectilinear-to-rotational motion converting mechanism in which a second movable element is moved rectilinearly along a linear shaft and the first movable element is rotated in dependence upon the rectilinear movement of the second movable element, comprising the steps of:

(a) monitoring the position of the second movable element along the linear shaft;
(b) calculating the traveling velocity of the second movable element, which traveling velocity is for rotating the first movable element at a uniform velocity, in dependence upon the position of the second movable element along the linear shaft, said step (b) including substeps of:
(b1) obtaining (d.theta./dx).sub.x=xa at a present position xa of the second movable element along the linear shaft, where x represents the position of the second movable element along the linear shaft and .theta. represents a rotational position of the first movable element;
and
(b2) calculating the traveling velocity of the second movable element from the obtained (d.theta./dx).sub.x=xa obtained in said substep (b1) and a commanded rotational velocity V;
and
(c) moving the second movable element at the calculated traveling velocity to make the rotational velocity of the first movable element uniform.

4 more elements

Dependencies are inferred from the claim text.