Patent ID: 6084374
Filing Date: 2000-07-04
Classification: B25J,G05B

Abstract:
A controller comprising:an interpolation calculator operable to divide move data of a robot arm tip position into each sample period, the data supplied from a position teaching section;a load inertia calculator operable to calculate load inertia;a gravity torque calculator for calculating gravity torque;acceleration and deceleration (A & D) time calculator operable to calculate an optimum A & D time by using the load inertia calculated by said load inertia calculator and the gravity torque calculated by said gravity torque calculator;an A & D processor operable to provide an A & D process to move data of each sample time calculated by said interpolation calculator based on the A & D time calculated by said A & D time calculator; anda plurality of position controllers operable to control each motor based on the move data processed by said A & D processor.