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AssigneeASEA Aktiebolag
InventorsSven Jonsson, Erik Persson, Lars stlund
Estimating the term…
An industrial robot has a position controller for each one of the axes of the robot and a computer for control of the robot. The computer continuously determines, with the aid of a mathematical model set up in advance, in dependence on the robot configuration and load in question, the mass moment of inertia of the axes, the coupled mass moment of inertia, and the moment caused by gravity. From the relationships between acceleration/deceleration and the drive motor torque for the different axes, the maximum available acceleration/deceleration for the axis is determined while assuming that maximum motor torque prevails for each axis. For each axis this value is compared with the maximum acceleration/deceleration value that may be allowed from the point of view of stability. On the basis of the lower of these values, optimum gain is determined and set in the position controller and/or a path planning parameter.
A method of providing optimal parameter control of axis controllers in an industrial robot having a plurality of movement axes, a drive motor and an axis controller being provided for each axis of the movement axes to control the axis movement in accordance with desired values supplied to the controller, computer equipment being provided to control the robot, the method comprising the steps of:
A device for providing optimum parameter control of axis controllers in an industrial robot having a plurality of movement axes, the robot further having a drive motor and an axis controller for each axis of the movement axes to control the axis movement in accordance with position reference values supplied to the controller, computer equipment being provided to control the robot, the device comprising:
Dependencies are inferred from the claim text.