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US 4,988,934 AGranted
Robot control apparatus
AssigneeFanuc Corporation
InventorsKenichi Toyoda, Nobutoshi Torii, Ryo Nihei, Jun Kikuchi
Life of this patent
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Abstract
The robot control apparatus according to the present invention is so adapted that, with regard to all kinds of motions commanded of a robot, the maximum velocity and time constant conforming to the type of robot motion can be designated for respective robot control axes (3) by a controller (1) which includes a selection table memory (4).
Claims4
A robot control apparatus for controlling a plurality of drive axes simultaneously by outputting a drive command to a motor having an acceleration/deceleration function, comprising:
- memory means for storing teach data which stipulates a type of motion of a robot arm from a starting point to an end point;
- arithmetic means for deciding maximum velocity and an acceleration/deceleration time constant along each drive axis in that a load which will act upon each axial motor will attain a maximum output of the respective motor during motion between taught points;
- and
- command means for forming, from said stored teach data, a drive command for each axial motor within said decided maximum velocity and having the respective acceleration/deceleration time constant.
1 more element
Dependencies are inferred from the claim text.