Method of and apparatus for robot tip trajectory control

Details Method of and apparatus for robot tip trajectory control Method of and apparatus for robot tip trajectory control

1995-12-26

1998-04-14

Hafiz, Tariq R.

395 95, G05B 1500, G05B 1900

Patent

active

057403279

ABSTRACT:
Acceleration/deceleration processing is performed in industrial robot controls when there is a transit point in an instructed trajectory where the robot tip cannot follow the trajectory with the instructed velocity because of the allowable limit of acceleration of the robot tip. In the invention, for specifying the velocity reduction ratio at the transit point quantitatively and continuously in consideration of tradeoff between the tracking error and the continuity of the traveling speed, a transit velocity or the velocity at the transit point after acceleration/deceleration processing is calculated from a linear combination of two instructed velocities before and after the transit point referring a transit velocity parameter as the velocity reduction ratio. To attain the transit velocity with allowable acceleration, the start point and the end point of acceleration/deceleration processing are determined, and the robot tip is controlled through continuous acceleration/deceleration processing from the transit point to the end point.

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