Computer controller for an industrial multiaxis robot

Details Computer controller for an industrial multiaxis robot Computer controller for an industrial multiaxis robot

1985-06-10

1988-03-29

Smith, Jerry

Boots, shoes, and leggings

364174, 364184, 901 4, 901 15, 901 20, G05B 1900

Patent

active

047348666

ABSTRACT:
An optimum velocity controller having absolute track faithfulness for linear track motions of articulated robots having several axes of motion. If at least one velocity reference value of an axis of motion exceeds an assigned limit, the velocity of the predetermined total motion of the track is reduced. In order to obtain a stable control behavior of the robot, an additional velocity reduction of the track motion is executed for each of the individual axes of motion within predetermined range limits. The boundaries of these range limits are selected according to the respective velocity and/or acceleration of the robot along the track.

REFERENCES:
patent: 3479574 (1969-11-01), Kosem
patent: 3909600 (1975-09-01), Hohn
patent: 3920972 (1975-11-01), Corwin, Jr. et al.
patent: 4338672 (1982-07-01), Perzley et al.
patent: 4528632 (1985-07-01), Nio
patent: 4594671 (1986-06-01), Sugimoto

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