Patent ID: 6615110
Filing Date: 2003-09-02
Classification: B25J,G05B

Abstract:
A controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), in which the robot is moved from a current position to a target position while being accelerated, and then decelerated before the target position and stopped at the target position, said method comprising:measuring, after stopping the robot (1) at the target position by performing a test operation in advance, a frequency of the robot at which a magnitude of residual vibration of the robot stands at a maximum value; keeping invariable a moving distance of the robot (1) from a movement start position to the target position, changing a length of moving time of the robot from a movement start time to a stop time at which the robot (1) stops at the target position, and measuring the magnitude of the residual vibration based on the frequency, thereby finding a relationship between the moving time and the magnitude of the residual vibration; determining a shortest moving time at which the magnitude of the residual vibration stands at a minimum value in regard to said relationship between the moving time and the magnitude of the residual vibration; and performing a point-to-point moving operation of the robot (1) based on said moving time, and positioning the robot at the target position.