Title:
TURNING CONTROL SYSTEM FOR ARTICULATED ROBOT
Document Type and Number:
Japanese Patent JPH04192008
Kind Code:
A
Abstract:
PURPOSE:To shorten the turning time of an articulated robot by selecting a torque curve that satisfies the specific conditions among various torque curves and then controlling the turning of each arm based on the selected torque curve or the function obtained from the selected curve. CONSTITUTION:An evaluation function which contains an error of the present angle set to a target angle of each arm at a certain time point, the angular velocity of each arm set at a certain time point, and the total time covering a shift starting time point through a certain time point is maximized. At the same time, the Hamilton function is maximized for the evaluation function. Then a torque curve that satisfies the two conditions for maximization of functions is selected out of various torque curves. The turning of each arm is controlled based on the selected torque curve and the function obtained from this curve. In this case, the selected curve is optimized in regard of the time required to turn each arm to its target position from a certain stop position. Thus the turning time necessary for each arm can be minimized when the turning of the arm is controlled based on the selected torque curve and the function obtained from this curve.
Inventors:
KOBAYASHI NAOTO
TAKAGI HIROAKI
TAKAGI HIROAKI
Application Number:
JP32475990A
Publication Date:
July 10, 1992
Filing Date:
November 27, 1990
Export Citation:
Assignee:
PENTEL KK
KOBAYASHI NAOTO
KOBAYASHI NAOTO
International Classes:
B25J13/00; B25J9/06; G05D3/12; (IPC1-7): B25J9/06; B25J13/00; G05D3/12
Attorney, Agent or Firm:
Sadao Ito