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DEVICE AND METHOD FOR ACCELERATION AND DECELERATION PATTERN GENERATION, AND SOLUTION OF INVERSE KINEMATICAL PROBLEM AND TIME BASE CORRECTING METHOD USED FOR THE SAME
DEVICE AND METHOD FOR ACCELERATION AND DECELERATION PATTERN GENERATION, AND SOLUTION OF INVERSE KINEMATICAL PROBLEM AND TIME BASE CORRECTING METHOD USED FOR THE SAME
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机译:加速和减速模式生成的装置和方法,以及用于该运动的逆运动学问题和时基校正方法
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摘要
PURPOSE: To perform smooth control and shorten the calculation time by unifying CP control and PTP control according to highly flexible algorithm. ;CONSTITUTION: A vP0 determination part 14 determines a tentative value of the speed peak value Vp of an acceleration/deceleration curve according to the information from a command part 13 and a line element series calculation part 15 generates an acceleration/deceleration pattern corresponding to the length of a CP control curve and also divides the curve at specific intervals of time to find a line element series. The line element series and a command position on the control curve are set in an inverting filter part 16, and actuation is performed to obtain a joint angle series. The inverting filter part 16 has negative feedback constitution including a path corresponding to a conversion matrix of the same order. An optimum Vp value determination part 17 has a virtual servo system, calculates a proper value of the Vp from a tentative value in the joint angle series so as to obtain prescribed precision, a speed, and acceleration, and imposes modulation on the time base after corrective calculation as to the joint angle series, thereby sending out the final result to a servo system plus mechanism system 18.;COPYRIGHT: (C)1994,JPO&Japio
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