US 6,615,110 B2 · Controlling method and apparatus for positioning a robot

Abstract

A controlling method and apparatus for positioning a robot that can output an optimal speed instruction for controlling residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation comprising: performing a test operation to measure a frequency of a residual vibration that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which vibration magnitude is minimized; and performing the point-to-point operation for the calculated shortest moving time, thereby to position the robot (1) at the target position.

Claims11

Dependent claims

A controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), in which the robot is moved from a current position to a target position while being accelerated, and then decelerated before the target position and stopped at the target position, said method comprising:

measuring, after stopping the robot (1) at the target position by performing a test operation in advance, a frequency of the robot at which a magnitude of residual vibration of the robot stands at a maximum value;
keeping invariable a moving distance of the robot (1) from a movement start position to the target position, changing a length of moving time of the robot from a movement start time to a stop time at which the robot (1) stops at the target position, and measuring the magnitude of the residual vibration based on the frequency, thereby finding a relationship between the moving time and the magnitude of the residual vibration;
determining a shortest moving time at which the magnitude of the residual vibration stands at a minimum value in regard to said relationship between the moving time and the magnitude of the residual vibration;
and
performing a point-to-point moving operation of the robot (1) based on said moving time, and positioning the robot at the target position.

2 more elements

A controlling apparatus for positioning a robot (1) for performing a point-to-point moving operation by accelerating and moving the robot (1) toward a target position from a current position, and then decelerating the robot before the target position and stopping the robot at said target position, comprising:

a measuring section (3) for measuring, after the robot (1) is stopped at a target position by performing a test operation, a frequency of the robot at which a residual vibration of the robot stands at a maximum value;
and
a control unit (2) for keeping invariable a moving distance of the robot (1) from a movement start position to the target position;
changing a length of moving time of the robot (1) from a movement start time to a stop time at which the robot stops at the target position;
finding a relationship between the moving time and the magnitude of the residual vibration;
finding, out of the moving time, a shortest moving time at which the magnitude of the vibration stands at a minimum value in regard to the relationship between the moving time and the magnitude of the residual vibration;
and moving the robot (1) to the target position based on the moving time to position the robot.

4 more elements

Dependencies are inferred from the claim text.

Controlling method and apparatus for positioning a robot

Life of this patent

Controlling method and apparatus for positioning a robot

Life of this patent

Abstract

Claims11