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Title:
CONTROLLER FOR WORKING MACHINE
Document Type and Number:
Japanese Patent JP3034843
Kind Code:
B2
Abstract:

PROBLEM TO BE SOLVED: To obtain a controller for working machine which can perform acceleration/ deceleration control having applied an optimum tangential acceleration within a range wherein permissible maximum acceleration of each axis is not exceeded.
SOLUTION: A 1st interpolation part receives data obtained by analyzing a program through a command analysis part, performs interpolation calculation in 1st sampling cycles, and outputs the result to an intermediate memory. A tangential acceleration calculation part finds tangential acceleration according to respective segments and the permissible acceleration of each axis and outputs the result to the intermediate memory. A deceleration target speed calculation part generates an acceleration/ deceleration pattern over segments in the intermediate memory and outputs it to the intermediate memory. An acceleration/deceleration control part performs acceleration/deceleration control so that the tangential speed at each segment end point is below the deceleration target speed according to data in the intermediate memory and calculates speeds by at every 2nd sampling cycle. A 2nd interpolation part generates a smooth curve according to the output of the acceleration/deceleration control part and data from the intermediate memory and outputs points on the smooth curve at every 2nd sampling cycle.


Inventors:
Mizuno, Toru
Otsuki, Toshiaki
Sagara, Shoichi
Saito, Yasuhiro
Application Number:
JP1998000164297
Publication Date:
April 17, 2000
Filing Date:
May 28, 1998
Export Citation:
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Assignee:
FANUC LTD
International Classes:
B23Q15/00; G05B19/4103; G05B19/416; G05D3/12; (IPC1-7): G05B19/4103; B23Q15/00; G05B19/416; G05D3/12
Attorney, Agent or Firm:
竹本 松司 (外4名)



 
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