Method and a device for optimum control of control parameters in an industrial robot
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United States of America Patent
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Apr 4, 1989
Grant Date -
N/A
app pub date -
Sep 29, 1987
filing date -
Sep 29, 1986
priority date (Note) -
Expired
status (Latency Note)
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Abstract
An industrial robot has a position controller for each one of the axes of the robot and a computer for control of the robot. The computer continuously determines, with the aid of a mathematical model set up in advance, in dependence on the robot configuration and load in question, the mass moment of inertia of the axes, the coupled mass moment of inertia, and the moment caused by gravity. From the relationships between acceleration/deceleration and the drive motor torque for the different axes, the maximum available acceleration/deceleration for the axis is determined while assuming that maximum motor torque prevails for each axis. For each axis this value is compared with the maximum acceleration/deceleration value that may be allowed from the point of view of stability. On the basis of the lower of these values, optimum gain is determined and set in the position controller and/or a path planning parameter.
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