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1. 发明申请

WO99008167A1 METHOD OF GENERATING ACCELERATION/DECELERATION PATTERN FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：生产工业机器人加速/减速模式的方法
公开(公告)号：WO99008167A1
公开(公告)日：1999-02-18
申请号：PCT/JP1998/003462
申请日：1998-08-03
IPC分类号： G05D3/12 , B25J9/18 , G05B19/416 , G05B19/18
CPC分类号： G05B19/416 , G05B2219/43057 , G05B2219/43059
摘要： An optimum acceleration/deceleration pattern is generated in consideration of uncontrollable torques such as the load and friction torques generated by the movement of a robot and of the response of the servo system. In a method of generating an acceleration/deceleration pattern for an industrial robot having a plurality of arms coupled together via a plurality of joints which are driven by respective servo motors, an instructed acceleration/deceleration is increased or decreased regarding at least one axis among the axes corresponding to the joints so that the peak value of the generated torque may be a maximum within the effective range of the speed-torque (14) of the whole servo system derived from the requirements such as the position of the axis, speed instruction, upper acceleration limit (11), frictional torque, reduction ratio of a reduction gear of the axis and transmission efficiency. The acceleration/deceleration time is adjusted in response thereto, and an acceleration/deceleration pattern expressed by the acceleration/deceleration speed and the acceleration/deceleration time is generated. Therefore, the generated acceleration/deceleration pattern is the shortest one within the dynamic range of speed-acceleration limits of the servo system.
摘要翻译：考虑到不可控制的转矩，例如由机器人的运动产生的负载和摩擦力矩以及伺服系统的响应，产生最佳的加速/减速模式。在通过由各个伺服电动机驱动的多个接头连接在一起的多个臂的工业机器人生成加速/减速模式的方法中，指示的加速/减速关于至少一个轴的加速/减速使得所产生的扭矩的峰值可以是从伺服系统的速度 - 转矩（14）的有效范围内的最大值，该有效范围是根据诸如轴的位置，速度指令，上限加速度（11），摩擦转矩，减速齿轮的减速比和传动效率。响应于此加减速时间，并且产生由加速/减速速度和加速/减速时间表示的加速/减速模式。因此，所产生的加速/减速模式在伺服系统的速度加速度极限的动态范围内是最短的。

2. 发明申请

WO1992021074A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM FOR SERVO MOTOR 审中-公开
标题翻译：伺服电机加速/减速时间恒定控制系统
公开(公告)号：WO1992021074A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000563
申请日：1992-04-28
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43056 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system which determines an optimum acceleration/deceleration time constant of a servo motor for each block by a moving distance, a load, etc., and shortens a machining time. Whether or not an instruction speed (Vt) can be reached is judged (step S1) from the distance to a movement target position. If it can, the instruction speed (Vt) is used as the speed (V) (step S2) and if not, an arrival speed (Vu) is determined (step S3) and this value is used as the speed (V) (step S4). A maximum torque (Tmax) corresponding to this speed (V) is determined from a torque curve (step S5), and an acceleration torque (Ta) is determined on the basis of this maximum torque (step S6). Furthermore, acceleration (a) is calculated (step S7), and an acceleration/deceleration time constant (τ) is determined from the acceleration (a) and the speed (V) (step S8). The greatest acceleration/deceleration time constant (τ) among all the driving shafts is employed as the acceleration/deceleration time constant for each shaft (step S9). Accordingly, the optimum acceleration/deceleration time constant can be decided and the machining time can be reduced.

3. 发明申请

WO1991018717A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 审中-公开
标题翻译：机器人加速/减速时间恒定控制系统
公开(公告)号：WO1991018717A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000645
申请日：1991-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , KATO, Tetsuaki , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

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