Title:
DEVICE FOR REDUCING OSCILLATIONS OF A ROBOT
Document Type and Number:
WIPO Patent Application WO/1994/019732
Kind Code:
A1
Abstract:
The invention relates to a device for reducing oscillations of a robot. An acceleration pattern is subjected to Fourier transform to provide a power spectrum distribution. A component of a resonant frequency (fn) is removed from the power spectrum distribution to provide a further power spectrum distribution for redeeming an acceleration pattern. The acceleration pattern thus found is integrated to provide a speed pattern. Then an acceleration and deceleration time corresponding to a taught velocity is found, and various axes of the robot are controlled in accordance with the velocity pattern which corresponds to the acceleration and deceleration time thus read out.
Inventors:
NOSE MATSUO (JP)
ABE TAMOTSU (JP)
ABE TAMOTSU (JP)
Application Number:
PCT/JP1994/000267
Publication Date:
September 01, 1994
Filing Date:
February 22, 1994
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
NOSE MATSUO (JP)
ABE TAMOTSU (JP)
NOSE MATSUO (JP)
ABE TAMOTSU (JP)
International Classes:
B25J19/06; B25J9/18; G05B19/18; G05B19/416; G05D3/12; G05D19/02; (IPC1-7): G05B19/407
Foreign References:
| JPS63253407A | 1988-10-20 | |||
| JPH0380310A | 1991-04-05 | |||
| JPH04260906A | 1992-09-16 |
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