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AssigneeFanuc Corporation
InventorsNobutoshi Torii, Ryo Nihei, Yasuo Naito, Tetsuaki Kato, Satoshi Kinoshita
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A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constant of a servomotor is set for an optimum value for each block, to thereby control the operation of the robot. A reaching speed (Vu) is determined from an amount of movement (X) of a block, and based on the reaching speed, a maximum torque (Tmax) of the servomotor is determined and then a static load torque (T.sub.wn) is subtracted from the maximum torque (Tmax) to determine an acceleration torque (Ta.sub.n). Thereafter, based on the acceleration torque (Ta.sub.n) and the load inertia of the servomotor, an acceleration (a.sub.n) is determined and an acceleration/deceleration time constant (.tau.) is determined from the acceleration (a.sub.n), and accordingly, an optimum acceleration/deceleration time constant is determined.
A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constants of servomotors, each respectively moving an axis of a robot, are set to optimum values for each block of movement of each of said axes over time, to thereby control the operation of the robot, comprising the steps of:
Dependencies are inferred from the claim text.