Boots – shoes – and leggings
Patent
1987-06-11
1990-04-10
Ruggiero, Joseph
Boots, shoes, and leggings
31856818, 901 2, 901 15, 901 20, G06F 1546, G05B 19407
Patent
active
049166360
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a system for controlling acceleration and deceleration of a horizontally articulated robot having a plurality of arms that are angularly movable in horizontal planes.
BACKGROUND ART
In a system for controlling axis movement of a robot having a plurality of movable axes, acceleration and deceleration control is generally effected so as not to impose shocks and vibration on a mechanical system when starting and stopping the axis movement.
There has been developed in recent years a horizontally articulated robot having a plurality of arms that are angularly movable in horizontal planes, for use in work where many jobs are carried out in horizontal planes, such as for assembling semiconductors or installing electronic parts on printed-circuit boards. The horizontally articulated robot is basically constructed of a first swing arm mounted on the distal end of a post erected on a bed fixed to a floor, the first swing arm being angularly movable horizontally, a second swing arm having one end swingably attached to the distal end of the first swing arm, the second swing arm being angularly movable horizontally, and a wrist mounted on the distal end of the second swing arm. When an object to be moved is gripped by the wrist of the horizontally articulated robot and the swing arms are angularly moved, acceleration and deceleration of a servomotor are controlled initial and final periods of angular movement of the swing arms for smoothly turning the swing arms.
The conventional system for controlling acceleration and deceleration of a horizontally articulated robot having a plurality of arms that are angularly movable in horizontal planes, has a drive source which can produce a torque great enough to move the object in a position remotest from the center of rotation of the arms. In the conventional control system, even when the object is located more closely to the center of rotation of the arms than the remotest position, the object has been moved at the same low acceleration as that when the object is located in the remotest position. Therefore, the time required to move the object is long and the ability of the drive source is not sufficiently utilized.
SUMMARY OF THE INVENTION
The present invention is a novel invention made to eliminate the aforesaid shortcomings. It is an object of the present invention to provide a system for controlling acceleration and deceleration of a horizontally articulated robot, the system being capable of effectively utilizing a servomotor which drives arms and of quickly moving the arms.
According to the present invention, there is provided a system for controlling acceleration and deceleration of a horizontally articulated robot having a plurality of arms that are angularly movable in horizontal planes, the system comprising processing means for computing the distance from the center of rotation of the arms to a reference position at the distal end of the arms, and accelerating/decelerating means responsive to the computed distance for setting an acceleration for movement of the distal end of the arms.
When a command is issued for moving an object gripped by a wrist, the distances from the center of rotation of the arms to an initial position of the object and a reached position thereof are immediately computed, then accelerations to be effected when the distal arm end is accelerated and decelerated are computed, and points to start acceleration and deceleration of the robot are varied dependent on the distance from the center of rotation of the arms.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a view showing the arrangement of a horizontally articulated robot according to the present invention;
FIG. 2 is a schematic view showing the arrangement of arms;
FIG. 3 is a diagram explaining acceleration;
FIG. 4 is a diagram explanatory of an acceleration table;
FIG. 5 is a schematic view explaining movement of the arms;
FIG. 6 is a diagram showing acceleration/deceleration characteristics; and
FIG. 7 is a flowchart of operation.
REFERENCES:
patent: 4494060 (1985-01-01), Chitayat et al.
patent: 4506335 (1985-03-01), Magnuson
patent: 4528632 (1985-07-01), Nio et al.
patent: 4535405 (1985-08-01), Hill et al.
patent: 4594670 (1986-06-01), Itoh
patent: 4598380 (1986-07-01), Holmes et al.
Ito Susumu
Terada Akihiro
Torii Nobutoshi
Fanuc Ltd.
Ruggiero Joseph
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