ROBOT TRACK FORMING METHOD FOR ROBOT CONTROLLER

• Main Authors: KARIYAZAKI HIROKAZU, NAKAZATO TATSUZO, TOMITA KOJI, UMEDA NOBUHIRO
• Format: Patent
• Language: English
• Published: 06.07.1999
• Edition: 6
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROLLING; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

PROBLEM TO BE SOLVED: To perform a smooth movement without having a bad effect on each driven shaft of a manipulator by determining an acceleration-deceleration curve considering only the change of position and an acceleration-deceleration curve considering only the change of attitude in the interpolation between target points accompanying the change of position and the change of attitude, and composing the both. SOLUTION: The position and attitude information of two points P0, P1 is read from an instruction data memory part, and represented by M0, M1. An acceleration- deceleration curve considering only the change of position is determined. The position and attitude in an operation starting point is set to M0, and the position and attitude in a temporary operation end point Pd1 is set to Md1. Md1 has the component of the attitude of M0 and the component of the position of M1. Then, an acceleration- deceleration curve considering only the change of attitude is determined. Md2 has the component of the attitude of M1 and the component of the position of M0. The acceleration-deceleration curves are composed together. By making the position and the attitude follow different acceleration-deceleration curves, the operation can be performed even in a section having a large attitude change without reducing the tip speed more than occasion demands.