Title:
LINEAR INTERPOLATING METHOD FOR ROBOT
Document Type and Number:
Japanese Patent JP2524931
Kind Code:
B2
Abstract:
PURPOSE: To improve the accuracy of linear movement at the drive start and the drive end time and enable high speed linear movement by linearly accelerating and decelerating the speed distribution at the time of linear movement of a robot.
CONSTITUTION: The present position C1 and the target position C2 in an x-y plne are obtained by a structural equation using the present position and the final goal position of a robot in articular coordinate system. Secondly, in the x-y plane, the moving distance of x-axis and the moving distance of y-axis are compared, the axis with a larger moving distance is made correspond to the linear moving speed, and in the case of no acceleration and deceleration, the moving frequency is obtained according to the travel by each sampling time. For the axis with a shorter moving distance, according to the moving frequency, in the case of no acceleration and deceleration, the moving distance is obtained by each sampling time. As the linear acceleration and deceleration is performed according to the travel of each axis in the case of no acceleration and deceleration, the moving pulse of each revolute joint is calculated. Lastly, the present position of each axis is detected to calculate positional deviation, and the proportional integral and differetial control is conducted for the positional deviation to output a driving signal.
Inventors:
SO CHINJITSU
Application Number:
JP35725891A
Publication Date:
August 14, 1996
Filing Date:
December 25, 1991
Export Citation:
Assignee:
SANSEI ELECTRONICS CORP
International Classes:
B25J9/16; B25J9/18; G05B19/18; G05B19/25; G05B19/416; B25J9/10; G05B21/02; (IPC1-7): B25J9/10; G05B19/18; G05B19/416; G05B21/02
Domestic Patent References:
| JP6262363A |
Attorney, Agent or Firm:
Masatake Shiga (3 outside)