Position controlling method of robot

Details Position controlling method of robot Position controlling method of robot

1991-10-21

1994-11-29

Mai, Tan V.

Boots, shoes, and leggings

364162, 901 9, 31856811, 31856815, G05B 1904

Patent

active

053695682

ABSTRACT:
This invention relates to a position controlling method for a robot in which a residual vibration is suppressed during the position controlling of a horizontal multiple articulation robot or an orthogonal robot. High speed position control is possible. A sampling time is reduced by executing acceleration and deceleration with a discrete time state equation. Highly precise control for a robot is obtained by a method which determines the maximum movement amount from the movement amount of each axis at an input pulse number computing step. The method also seeks the number of input pulses moved at every sampling time in the case of no acceleration and deceleration. The method further seeks the input pulse of the axis except the axis of maximum movement amount from the number of input pulses. The aiming position of each axis at every sampling time is computed using the discrete time state equation. The present position of each axis is detected. Proportional integral and differential PID controls are executed, and outputs are provided as a driving signal to a servomotor.

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