Method of computing drive pattern for suppressing vibration of i

Details Method of computing drive pattern for suppressing vibration of i Method of computing drive pattern for suppressing vibration of i

1995-04-19

1997-05-06

Ro, Bentsu

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856822, 31856824, 318611, G05B 501, B25J 918

Patent

active

056274408

ABSTRACT:
Vibration occurring at an arm part of an industrial robot when the arm part is moved is controlled by combining vibrations occurring at two time points for mutual interference. In each of acceleration and slowdown periods, the time difference of rise and fall time points t.sub.1, t.sub.4 and t.sub.2, t.sub.3 of a differential value of an acceleration with respect to time is set to be an integral number times the natural vibration period of the system so that the vibrations occurring at the rise and fall time points interfere with each other to cancel one another. Also, the vibration occurring in the acceleration period and the vibration occurring in the slowdown period can cancel each other.

REFERENCES:
patent: 3921818 (1975-11-01), Yamagishi
patent: 4555758 (1985-11-01), Inaba et al.
patent: 5049797 (1991-09-01), Phillips
patent: 5102289 (1992-04-01), Yokoshima et al.
Journal of Science and Precision Engineering, "Output of Cam Motion Curve by DC Servo Motor (2nd Report): Resisual Vibrating Characteristics of Motor Load." Kazuo Kanzaki et al., Nov. 1991, pp. 133-139. Japan.
Journal of Science and Precision Engineering, "Output of Cam Motion Curve by DC Servo Motor (3rd Report): Positioning by Polydyne Motion Curve." Kazuo Kanzaki et al., Jan. 1993: pp. 107-112. Japan.

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