PURPOSE: To provide the method for suppressing the vibration caused when an industrial robot hand is operated with an inexpensive structure.
CONSTITUTION: The time differences between the rising times t1, t4 and trailing times t2, t3 of the differentiated values of acceleration in time are made coincident with the inherent vibration frequency of a system or its integer times to damp vibration. In the acceleration periods PA, Pa when vibration is liable to be caused, the periods PA1, PB1 when acceleration is increased at a constant rate in time (constant acceleration increase periods) and the periods PA3, PB3 when acceleration is decreased at a constant rate in time (constant acceleration decrease periods) are set. The starting points of these periods PA1, Pa1, PA3, PB3 correspond to the rising times t1, t4 and the trailing times t2, t3. The ratio between the acceleration periods and deceleration periods is adjusted to make the time difference coincident with the natural vibration period or its integer times.
KOMURO FUMIHIKO
TANAKA KATSUHISA
