Title:
SPEED CONTROL SYSTEM FOR ROBOT
Document Type and Number:
Japanese Patent JPS63155203
Kind Code:
A
Abstract:
PURPOSE:To suppress vibrations by converting the sampling period of a speed command by a sampling period converting means to a specific value for the resonance period of a robot. CONSTITUTION:A controller 20 which controls the articulated robot 1 is equipped with a control processor 21, a timer circuit 22, a function generating circuit 23, and a servo circuit 24 and further provided with the sampling period conversion part 25 which converts respective periods for sending speed indications to respective articulations to specific contents, period by period. Further, a frequency analyzing machine 3 is provided and output information is received from the controller 20 to analyze the frequency when vibrations that the robot has are maximum, thereby measuring the period (maximum resonance period T). Then the sampling periods of the speed commands are converted to (n+1/2)T. Consequently, the vibrations can be drastically suppressed.
Inventors:
KOMORIYA HITOSHI
NOGO HIDETOSHI
NOGO HIDETOSHI
Application Number:
JP30471786A
Publication Date:
June 28, 1988
Filing Date:
December 18, 1986
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
G05B21/02; B25J9/16; G05B19/18; G05B19/416; (IPC1-7): B25J9/16; G05B19/18; G05B19/407; G05B21/02
Attorney, Agent or Firm:
Sadaichi Igita