JPS63103105U

JPS63103105U -

Info

Publication number: JPS63103105U
Application number: JP20398086U
Authority: JP
Priority date: 1986-12-24
Filing date: 1986-12-24
Publication date: 1988-07-04

Description

[Brief explanation of drawings]

第１図は本考案の一実施例を示すブロツク図、
第２図、第３図、第４図、第５図は速度プロフア
イル作成手段で作成される個々の速度プロフアイ
ルの説明図、第６図は従来の一例を示すブロツク
図、第７図は従来のロボツト制御装置で作成され
るパスポイント速度プロフアイル作成手順の説明
図である。１……マンマシンインタフエース、２，３……
速度プロフアイル作成手段、４，５……速度プロ
フアイルシフト手段、６……速度プロフアイル連
結手段、７……駆動制御手段、ａ，ｂ……移動命
令、ｃ，ｄ……速度プロフアイル、ｅ，ｆ……シ
フト速度プロフアイル、ｇ……パスポイント速度
プロフアイル。 FIG. 1 is a block diagram showing an embodiment of the present invention.
2, 3, 4, and 5 are explanatory diagrams of individual speed profiles created by the speed profile creation means, FIG. 6 is a block diagram showing an example of the conventional method, and FIG. FIG. 2 is an explanatory diagram of a procedure for creating a pass point speed profile created by a conventional robot control device. 1...Man-machine interface, 2, 3...
Speed profile creation means, 4, 5... Speed profile shifting means, 6... Speed profile connection means, 7... Drive control means, a, b... Movement command, c, d... Speed profile, e, f...shift speed profile, g...pass point speed profile.

Claims

[Scope of utility model registration request]

A man-machine interface unit that interprets work instructions of the robot, and a first velocity profile including acceleration and deceleration regions from the current position of the robot arm to the path point based on a first movement command from the man-machine interface unit. a second speed profile for creating a second speed profile to the next target point of the pass point according to a second movement command from the man-machine interface section; creating means; when the speed directions of the first speed profile and the second speed profile are reversed, the deceleration region of the first speed profile is replaced with the constant speed region of the second speed profile; The first shift to
a first speed profile shifting means for creating a shift speed profile of the first speed profile; and a second speed profile shifting means for creating a shift speed profile of the first speed profile, and a second speed profile shifting means for shifting the acceleration region of the second speed profile to the constant speed region of the first speed profile in the case of reversal. a second speed profile shifting means for creating a file, a speed profile connecting means for adding the first shift speed profile and a second shift speed profile, and a speed profile connecting means for adding the first shift speed profile and the second shift speed profile; A robot control device comprising a drive control means for inputting a pass point speed profile to drive and control various actuators.