Method and apparatus for controlling the acceleration and deceleration of a movable element without abrupt changes in motion
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United States of America Patent
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Nov 26, 1985
Grant Date -
N/A
app pub date -
Mar 3, 1983
filing date -
Mar 8, 1982
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A method and apparatus for controlling the acceleration of the frequency at the beginning of a pulse train and the frequency at the end of the pulse train, so that a movable element with little rigidity, such as a robot arm, can be started and stopped smoothly without vibration. The method includes storing frequency function in a memory, which frequency function represents an acceleration characteristic or a deceleration characteristic, reading the frequency function out of the memory at a predetermined interval, computing a frequency at the present time, and generating a number of pulses, corresponding to the product of the computed frequency and the predetermined time interval, during the predetermined time interval.
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