Method for controlling speed of motor for driving robot
AssigneeSamsung Electronics Co., Ltd.
InventorYong Joon Hong
Life of this patent
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Abstract
A motor speed controlling method is provided in a motor speed controlling apparatus including a motor for driving the robot, a position controller for controlling position of a motor and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller. The motor speed controlling method includes a step of producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis. Accordingly, vibration and noise of the motor are reduced and thus a control reliability is enhanced.
Claims6
A motor speed controlling method for use in a motor speed controlling apparatus including a motor for driving a robot, a position controller for controlling the motor, and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller, the motor speed controlling method comprising the step of:
- producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis, said speed command profile producing step comprising an operational preparation step for obtaining a position change amount ΔP, the maximum number of intervals TPmax, and the number of acceleration intervals TAmax according to the following expressions:
- Formula 1 Δ P = P g - P c ;
- TP max = Δ P V m ;
- and TA max = A p
- wherein Pg is a target position, Pc is a current position, Vm is a maximum speed per unit time and Ap is an acceleration interval and is a value set by the user robot operational command.
Dependencies are inferred from the claim text.