System for controlling acceleration and deceleration of horizontally articulated robot
AssigneeFanuc Corporation
InventorsNobutoshi Torii, Susumu Ito, Akihiro Terada
Life of this patent
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Abstract
A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.
Claims4
A system for controlling acceleration and deceleration of a horizontally articulated robot having a plurality of arms, coupled together to form an arm member having base and distal ends, and angularly movable, relative to a center of rotation at the base end of the arm member, in horizontal planes, said system comprising:
- processing means for computing a distance from the center of rotation at the base end of the arm member to a reference position at the distal end of the arm member;
- and
- accelerating/decelerating means for setting an acceleration/deceleration rate for movement of the distal end of the arm member in dependence upon the distance computed by said processing means.
Dependencies are inferred from the claim text.