Robot controlling method and apparatus

Details Robot controlling method and apparatus Robot controlling method and apparatus

1991-10-29

1994-07-05

MacDonald, Allen R.

395 91, G05B 19407

Patent

active

053275233

ABSTRACT:
A multi-axis robot and controller therefor which is responsive to the input of target position information for each of plural axes and outputs position commands to motors for each axis of the robot. All of the axes are considered together and are assumed to move according to the same velocity profile, the fastest velocity is identified and used as the basis for assigning a relative load factor to each axis. An actual velocity command for movement of each axis according to the input target position is calculated on the basis of the preceeding position command, its load factor, velocity profile and interpolated velocity value. The position command is calculated on the basis of the velocity command. The controlled axes may include additional outside axes and the load factor may be variable.

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