Boots – shoes – and leggings
Patent
1997-08-22
1999-11-30
Grant, William
Boots, shoes, and leggings
36416709, 3185681, 21912434, G06F 1717
Patent
active
059930446
ABSTRACT:
An acceleration generated when a tool tip of a robot moves straightly or turns a teaching point inward, is suppressed under a predetermined maximum acceleration so that the tool tip moves smoothly. From teaching point data including a moving instruction to specify a trajectory shape on the basis of a teaching point giving a reference based on which a tip portion of the robot moves, a moving speed instruction to specify a moving speed of the tip portion on the trajectory, and an allowable path error to specify a maximum value of an error between the teaching point and the trajectory, a realizable moving speed when the tip portion of the robot moves on the straight line trajectory is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is obtained, a realizable moving speed when the tip portion of the robot passes the inside of the teaching point is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is calculated, and those values are stored in the teaching point data. When the robot is operated, in accordance with the straight portion deceleration rate and the inward turning portion deceleration rate stored in the teaching point data, the moving speeds of the robot at the straight portion and the inward turning portion are reset.
REFERENCES:
patent: 4675502 (1987-06-01), Haefner et al.
patent: 4807153 (1989-02-01), Onaga et al.
patent: 5373439 (1994-12-01), Jeon
patent: 5608640 (1997-03-01), Itoh
Kinoshita Hisashi
Nakatsuka Takashi
Nishida Yoshinori
Ohto Masahiro
Grant William
Matsushita Electric - Industrial Co., Ltd.
Rapp Chad
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