초록 ▼

Vibration occurring at an arm part of an industrial robot when the arm part is moved is controlled by combining vibrations occurring at two time points for mutual interference. In each of acceleration and slowdown periods, the time difference of rise and fall time points t1, t4 and t2, t3 of a diffe

Vibration occurring at an arm part of an industrial robot when the arm part is moved is controlled by combining vibrations occurring at two time points for mutual interference. In each of acceleration and slowdown periods, the time difference of rise and fall time points t1, t4 and t2, t3 of a differential value of an acceleration with respect to time is set to be an integral number times the natural vibration period of the system so that the vibrations occurring at the rise and fall time points interfere with each other to cancel one another. Also, the vibration occurring in the acceleration period and the vibration occurring in the slowdown period can cancel each other.

대표청구항 ▼

A method of controlling a moving part of an industrial robot, comprising the steps of: driving the moving part; and controlling the moving part in a predetermined drive pattern in which a time difference of rise and fall portions of a differential value of acceleration with respect to time of the mo

A method of controlling a moving part of an industrial robot, comprising the steps of: driving the moving part; and controlling the moving part in a predetermined drive pattern in which a time difference of rise and fall portions of a differential value of acceleration with respect to time of the moving part is substantially an integral number times a natural vibration period of said moving part. A method of controlling a moving part of an industrial robot, comprising the steps of: driving the moving part; and controlling the moving part in a predetermined drive pattern in which a time difference of torque peaks in accelerating and slowing down the moving part is substantially an integral number times a natural vibration period of the moving part. An apparatus for computing a drive pattern for suppressing vibration of a moving part of an industrial robot, comprising: (a) means for obtaining a drive pattern of the moving part; (b) means for calculating a time difference of torque peaks in acceleration and slowdown periods of the drive pattern; and (c) means for correcting said drive pattern in such a manner that said time difference changes substantially by an integral number times a natural vibration period of the moving part.