Method of an apparatus for controlling velocity of industrial ro

Details Method of an apparatus for controlling velocity of industrial ro Method of an apparatus for controlling velocity of industrial ro

1989-07-14

1990-11-20

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318594, 318592, 901 20, 364513, G05B 1100

Patent

active

049721313

ABSTRACT:
A method of and apparatus for controlling the velocity of an industrial robot where the velocity is controlled without producing an edge when an instruction velocity is higher than an allowable velocity and an operator can readily recognize the actual velocity of the robot. The method includes the setting of an allowable velocity for a first step section or each of step sections in an acceleration or deceleration section between taught points for each of the axes of the robot. At the first or each step section an instruction velocity to each axis is compared with a corresponding allowable velocity, and when the former is highter than the latter, a control cycle after which a next trigger signal is to be developed is modified using the allowable and instruction velocities. Upon such first playback operation, data related to a maximum velocity which is reached by modification of the control cycle is stored in memory, and then, in a next playback operation or operations, the maximum velocity is computed in accordance with the stored data. The thus computed maximum velocity is used in place of the instruction velocity and displayed on a display.

REFERENCES:
patent: 4348731 (1982-09-01), Kogawa
patent: 4710865 (1987-12-01), Higomura

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