MOTOR VELOCITY/ACCELERATION DECISION METHOD, ACCELERATION/DECELERATION GENERATION METHOD, ACCELERATION/DECELERATION CONTROL METHOD, ACCELERATION/ DECELERATION CONTROLLER AND MOTOR CONTROLLER

Japanese Patent JP3900789

B2

PROBLEM TO BE SOLVED: To provide a method for deciding the maximum velocity and maximum acceleration for generating an acceleration/deceleration curve capable of reducing vibration to be applied to a mechanical system when shift amounts equivalent to minute shift are commanded in acceleration/deceleration control keeping the continuity of a speed, and to provide an acceleration/deceleration generation method for generating an acceleration/deceleration curve based on the maximum velocity and maximum acceleration decided by the decision method, an acceleration/deceleration control method using the generation method, an acceleration/deceleration controller to which the control method is applied, and a motor controller.
SOLUTION: The acceleration/deceleration control is executed by means of a jumping fixed control by which the maximum value Jmax of a jumping absolute value when the shift amounts of a commanded servo motor 5 are less than the minimum shift amount Smin capable of being operated at the given maximum velocity Vmax and minimum acceleration Amax is controlled so as to be not more than a prescribed value or matched with the prescribed value or matched with the prescribed value.

JP3908005	WORK CARRYING ROBOT
WO/2020/121396	ROBOT CALIBRATION SYSTEM AND ROBOT CALIBRATION METHOD
JPH0651819	ROBOT DEVICE

Hiroyuki Miyazawa

JP2000113073A

April 04, 2007

April 14, 2000

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Seiko Epson Corporation

B25J9/10; G05B19/416; B25J9/16; (IPC1-7): G05B19/416; B25J9/10; B25J9/16

JP2000020118A
JP1173209A
JP4148208A
JP61160113A
JP2144607A
JP6168021A
JP8025258A
JP2000252318A

Souji Sasaki
Hisao Kobayashi
Saburo Kimura
Noboru Omura

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