Controller and filter used therein

Details Controller and filter used therein Controller and filter used therein

1998-09-24

2000-07-04

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

3185681, 318612, 318613, 318618, G05B 19416, G05B 1919

Patent

active

060843748

ABSTRACT:
The controller comprises (a) an interpolation calculator for dividing move data of a robot arm tip position into each sample period, the data fed from a position teaching section, (b) a load inertia calculator, (c) a gravity torque calculator, (d) acceleration and deceleration (A & D) time calculator for calculating an optimum A & D time by using the load inertia calculated by the load inertia calculator and the gravity torque calculated by the gravity torque calculator, (e) an A & D processor for providing an A & D process to move data of each sample time calculated by the interpolation calculator based on the A & D time calculated by the A & D time calculator, and (f) position controllers for controlling each motor based on the move data processed by the A & D processor. The A & D time is calculated with the following equation:

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