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US 6,647,353 B2Granted
Acceleration/deceleration method
AssigneeFanuc Corporation
InventorsKentaro Fujibayashi, Tetsuo Hishikawa, Yusaku Yamada
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AssigneeFanuc Corporation
InventorsKentaro Fujibayashi, Tetsuo Hishikawa, Yusaku Yamada
Estimating the term…
An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position is disclosed. A follower axis X continues to be accelerated after a velocity Vx of the follower axis X reaches a target velocity Vy of an objective axis Y and the acceleration is changed over to a deceleration to achieve the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.
An accelerating/decelerating method for controlling a position and a velocity of a follower axis to pursue a position and a velocity of an objective axis, respectively, comprising the steps of:
An acceleration/deceleration method for controlling a position and a velocity of a follower axis to pursue a position and a velocity of an objective axis, respectively, comprising the steps of:
An accelerating/decelerating method for controlling a velocity of a follower axis to pursue a velocity of an objective axis and a position of the follower axis to have a predetermined positional relation with respect to a position of the objective axis, said method comprising the steps of:
Dependencies are inferred from the claim text.