Patent ID: 6278253
Filing Date: 2001-08-21
Classification: G05B

Abstract:
A motor speed controlling method for use in a motor speed controlling apparatus including a motor for driving a robot, a position controller for controlling the motor, and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller, the motor speed controlling method comprising the step of:producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis, said speed command profile producing step comprising an operational preparation step for obtaining a position change amount .DELTA.P, the maximum number of intervals TP.sub.max, and the number of acceleration intervals TA.sub.max according to the following expressions:Formula 1 ##EQU15##wherein P.sub.g is a target position, P.sub.c is a current position, V.sub.m is a maximum speed per unit time and A.sub.p is an acceleration interval and is a value set by the user robot operational command.