Industrial robot controller

Citation

(2000), "Industrial robot controller", Industrial Robot, Vol. 27 No. 1. https://doi.org/10.1108/ir.2000.04927aad.006

Industrial robot controller

Industrial robot controller

Keywords: Robots, Control, Devices

Applicant: Yaskawa Electric Corp.Requested patent: JP11143521Publication date: 28 May 1999Title: Industrial robot controller

The patent application addresses the problem of enabling one shaft to operate at its highest velocity in an operating command generation cycle by setting the highest allowable velocity of every shaft to a designated velocity parameter. When an interpolation operation is started, the teaching data outputted from a teaching data storage undergo the interpolation operation via an inverse conversion and a segment data production/output. Thus the segment data are produced. The interpolation operation multiplies the teaching data by the velocity ratio of a velocity ratio store area to control the velocity in each sampling cycle. A correction value operation calculates the correction value of every shaft by dividing each shaft designated velocity parameter storage by the segment data and then selects the least correction value of every shaft. Then a velocity ratio operation performs an operation to decide the value obtained by multiplying the said least correction value by the velocity ratio of the area as the new velocity ratio of the area. Thus, the nest segment data are produced based on the said new velocity ratio of the area.

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