Velocity control apparatus
AssigneeFanuc Corporation
InventorRyuichi Hara
Life of this patent
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Abstract
A velocity control apparatus according to the invention controls velocity when moving the movable element of a robot hand or NC machine tool and includes velocity override control for changing the movable element command velocity at a predetermined rate, and acceleration/deceleration circuits (2X, 2Y) of a time constant inversely proportional to a velocity set by the override control. When the amount of a velocity override is changed, the time constant of the acceleration/deceleration circuits (2X, 2Y) is altered in dependence upon the commanded velocity, and an accumulated quantity of command pulses at the time of acceleration/deceleration is controlled so as to be held constant. This makes it possible to control movement at a predetermined velocity without changing the trajectory of the movable element at a corner portion.
Claims2
A velocity control apparatus having drive mechanisms for a plurality of axes for controlling movement of a movable member along a set trajectory at a predetermined velocity, comprising:
- velocity override means for changing and setting a commanded velocity of the movable member at a predetermined rate based on a velocity commanded for each direction of movement;
- and
- acceleration/deceleration means, having a time constant capable of being changed in inverse proportion to a velocity set by said velocity override means, for driving the movable member.
Dependencies are inferred from the claim text.