PURPOSE: To shorten a process time by controlling optimumly a moving operation of a robot arm in accordance with an attitude of the arm and its operating direction.
CONSTITUTION: By adding a fact that a joing is subjected to load fluctuation in accordance with an attitude of an arm and its operating direction, such acceleration and deceleration as the joint torque is generated to the maximum at every combination of the attitude and the operating direction are calculated in advance, and they are set to an acceleration/deceleration setting means 31 from a keyboard 9. in accordance with the attitude of the arm and its operating direction, the set acceleration/deceleration are selected, and by generating an acceleration/deceleration pattern by an acceleration/deceleration pattern generating means 32, a speed command value *ω is generated.
| WO/2022/061673 | CALIBRATION METHOD AND DEVICE FOR ROBOT |
| WO/2014/186617 | ROBOT POSITIONING |
| JPH09505756 | [Title of the Invention] Radiation imaging gantry equipped with collision avoidance software. |
ITOU SUKENORI
MIZUTANI TOMOJI
