Patent ID: 8897901
Filing Date: 2014-11-25
Classification: B66B,G05B

Abstract:
1. A command generator, comprising: a positive & negative jerk interval trigonometric command generating section that generates, using a computer, a position command or a speed command by employing an acceleration command curve having plural intervals, including an acceleration increasing interval and an acceleration decreasing interval; a reference deceleration stop distance computing section for computing, as a reference deceleration stop distance, a travel distance required to make a deceleration stop from a current speed at a constant acceleration; a deceleration stop distance computing section for computing, as a deceleration stop distance, a travel distance required to make a deceleration stop from a current speed based on the reference deceleration stop distance computed by the reference deceleration stop distance computing section; a differential distance computing section for computing a differential distance corresponding to a difference between a target position and a current position; and a deceleration start discriminating section for outputting a deceleration start command for starting deceleration to the positive & negative jerk interval trigonometric command generating section based on a result of a comparison between the deceleration stop distance and the differential distance, wherein at least two of the plural intervals have different lengths of time and the acceleration command curve is generated based on a trigonometric function of a ½ cycle such that a positive & negative jerk varies continuously with time.