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KR930023119A - Shortest time speed control method for industrial robot - Google Patents

Shortest time speed control method for industrial robot

Info

Publication number
KR930023119A
KR930023119A KR1019920009361A KR920009361A KR930023119A KR 930023119 A KR930023119 A KR 930023119A KR 1019920009361 A KR1019920009361 A KR 1019920009361A KR 920009361 A KR920009361 A KR 920009361A KR 930023119 A KR930023119 A KR 930023119A
Authority
KR
South Korea
Prior art keywords
speed
control method
industrial robot
shortest time
change
Prior art date
Application number
KR1019920009361A
Other languages
Korean (ko)
Other versions
KR100235191B1 (en
Inventor
전재욱
Original Assignee
강진구
삼성전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 강진구, 삼성전자 주식회사 filed Critical 강진구
Priority to KR1019920009361A priority Critical patent/KR100235191B1/en
Publication of KR930023119A publication Critical patent/KR930023119A/en
Application granted granted Critical
Publication of KR100235191B1 publication Critical patent/KR100235191B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 산업용로보트의 최단시간 속도제어방법에 관한것으로, 종래의 속도제어방법은 한측이 동작중일 때도 모든축이 정지했을때와 마찬가지로 가감속시간을 설정함으로써 오버라이드(Over ride)에 의해 큰속도에서 작은 속도로 변경될때 많은시간이 소요되는 단점이 발생되는바, 본 발명에 의하면, 속도 오라이드에 의한 속도변경시 경로의 변화를 없게하기 위하여 각 방향의 속도명령에 따라 정해진 비율로 속도명령을 변경해서 설정된 속도간의 변경시 시간을 최소화하고 부드러운 동작을 구현토록하는 산업용로보트의 최단시간 속도제어 방법인 것이다.The present invention relates to a method for controlling the shortest time speed of an industrial robot, and the conventional speed control method is set at a large speed by override by setting the acceleration / deceleration time similarly to when all axes are stopped even when one side is in operation. The disadvantage that it takes a lot of time when the change to a small speed occurs, according to the present invention, to change the speed command at a predetermined rate in accordance with the speed command in each direction in order to avoid the change of the path when changing the speed by the speed orride Therefore, it is the shortest time speed control method of industrial robot to minimize the time when change between set speed and realize smooth operation.

Description

산업용 로보트의 최단시간 속도제어방법Shortest time speed control method for industrial robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제 1 도는 본 발명에 의한 속도 구성도(rofile), 제 4 도는 속도크기에 따른 경로변화를 보여주기위한 예시도.1 is a speed diagram (rofile) according to the present invention, Figure 4 is an exemplary view for showing a path change according to the speed size.

Claims (1)

각 방향의 속도명령에 따라 정해진 비율로 속도명령을 변경해서 설정하는 속도 오버라이드(Over ride)방식과 이 속도 오버라이드 방식에 의해 설정된 속도간의 변경시 걸리는 시간이 최소가 되도록하는 가감속 방식을 적용하여 됨을 특징으로 하는 산업용 로보트의 최단시간 속도제어방법.The speed override method that changes and sets the speed command at a fixed rate according to the speed command in each direction and the acceleration / deceleration method that minimizes the time taken when changing between the speeds set by the speed override method are applied. The shortest time speed control method for an industrial robot. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920009361A 1992-05-30 1992-05-30 Method for minimum time velocity control of industrial robot KR100235191B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920009361A KR100235191B1 (en) 1992-05-30 1992-05-30 Method for minimum time velocity control of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920009361A KR100235191B1 (en) 1992-05-30 1992-05-30 Method for minimum time velocity control of industrial robot

Publications (2)

Publication Number Publication Date
KR930023119A true KR930023119A (en) 1993-12-18
KR100235191B1 KR100235191B1 (en) 2000-04-01

Family

ID=19333926

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920009361A KR100235191B1 (en) 1992-05-30 1992-05-30 Method for minimum time velocity control of industrial robot

Country Status (1)

Country Link
KR (1) KR100235191B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220050289A (en) * 2020-10-15 2022-04-25 주식회사 슈파스 Trump card for including beauty and color information and method for generating the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220050289A (en) * 2020-10-15 2022-04-25 주식회사 슈파스 Trump card for including beauty and color information and method for generating the same

Also Published As

Publication number Publication date
KR100235191B1 (en) 2000-04-01

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