METHOD AND DEVICE FOR GENERATING OPERATION COMMAND OF MULTI-SHAFT MECHANISM

Japanese Patent JPH03257602

A

PURPOSE:To improve tracing accuracy by calculating an inter-shaft inference removing gain as the product of an inertia ration, which is calculated from the operational load of each driving shaft related to a control object shaft and an inter-shaft angle between the control object shaft and each driving shaft, and the ratio between the driving force command and driving transform constant of an angle driving shaft to be decided from the size of the driving force command according to a non-linear relation. CONSTITUTION:The relation of an expression I is established among a driving force command gammaj of driving shafts j [(j)=1-(n)], driving force command/generated driving force transform constant KTj driving shaft position thetaj, velocity thetaj and acceleration thetaj. In such a case, since a low-speed operation to require the operation tracing accuracy is handled, the second item of the right side can be ignored and since an assembly robot is normally a horizontal multi- joint type and gravity is not operated onto an arm driving shaft, the third item of the right side can be ignored as well. Therefore, a (j) axial angular velocity can be reloaded like an expression II. Then, when the expression II is reloaded like an expression III, inter-shaft inference is removed. When the expressions II and III are made equal, the inter-shaft inference is removed by applying the (j) shaft driving force command as shown in an expression IV. In such a case, the operation is executed under the condition of alphaji=KTj<-1>AjiA*ji<-1>KTi.

OGISO TOSHIO
TAJIMA FUJIO
OTSUKI HARUAKI
TAKEMOTO AKINOBU
KOBAYASHI MASARU

JP5707590A

November 18, 1991

March 08, 1990

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HITACHI LTD

G05B19/18; G05D3/12; (IPC1-7): G05B19/18; G05D3/12

Tatsuyuki Unuma (2 others)

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