Robot and method for controlling motor speed of the robot
AssigneeSamsung Electronics Co., Ltd.
InventorYong-joon Hong
Life of this patent
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Abstract
Disclosed is a method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller generating a speed command profile for controlling the motor, based on the inputted motion command of the arm part and transmitting the profile to the position controller, comprising a step of generating the speed command profile controlling a speed of the motor so as to allow the arm part to have an acceleration profile in uniform speed. With this configuration, the slipping of a workpiece can be prevented and further increasing the motion speed while the arm part is traveling, by making the motion speed of the arm part constant.
Claims7
A method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller, comprising:
- generating a speed command profile to control a speed of the motor based on a motion command of the arm part inputted by a user, and transmitting the profile to the position controller, so as to allow the arm part to have an acceleration profile in uniform speed.
A robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, and a position controller controlling the motor, comprising:
- a main controller to generate a speed command profile to control a speed of the motor based on a motion command of the arm part inputted by a user, and transmitting the profile to the position controller, so as to allow the arm part to have an acceleration profile in uniform speed.
A robot comprising:
- a motor having a rotation shaft;
- an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor;
- a position controller to control the motor;
- and
- a main controller to generate a speed command profile to control a speed of the motor based on a motion command of the arm part inputted by a user, and transmitting the profile to the position controller, thereby allowing the arm part to have an acceleration
Dependencies are inferred from the claim text.