JPS6416396A - Method of controlling acceleration at time of emergency stoppage - Google Patents

Method of controlling acceleration at time of emergency stoppage

Info

Publication number
JPS6416396A
JPS6416396A JP62172321A JP17232187A JPS6416396A JP S6416396 A JPS6416396 A JP S6416396A JP 62172321 A JP62172321 A JP 62172321A JP 17232187 A JP17232187 A JP 17232187A JP S6416396 A JPS6416396 A JP S6416396A
Authority
JP
Japan
Prior art keywords
acceleration
robot
time
damage
stop
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
JP62172321A
Other languages
Japanese (ja)
Inventor
Yasutoku Oshima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP62172321A priority Critical patent/JPS6416396A/en
Publication of JPS6416396A publication Critical patent/JPS6416396A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE: To prevent the damage of a robot itself, a workpiece, working substance, and the like by stopping a robot using set maximum acceleration at the time of emergency stop, regardless of acceleration before the time of emergency stop. CONSTITUTION: Maximum acceleration is the maximum possible acceleration of a robot previously offline-computed taking account of inertia of a robot arm and a table, the torque of a motor, the driving capacity of a servo amplifier, and the like. During movement at actual acceleration (1/3Amax ), the robot is switched on at a limit sensor (moving limit point 4) and starts decelerating to stop. At this time point 4, acceleration (1/3Amax ) is rewritten into maximum acceleration Amax so as to decelerate at the maximum acceleration. Travel distance 3 to a stop is therefore shortened so as to minimize the damage of the robot itself, the damage of a workpiece and overrunning of the robot.
JP62172321A 1987-07-10 1987-07-10 Method of controlling acceleration at time of emergency stoppage Pending JPS6416396A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62172321A JPS6416396A (en) 1987-07-10 1987-07-10 Method of controlling acceleration at time of emergency stoppage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62172321A JPS6416396A (en) 1987-07-10 1987-07-10 Method of controlling acceleration at time of emergency stoppage

Publications (1)

Publication Number Publication Date
JPS6416396A true JPS6416396A (en) 1989-01-19

Family

ID=15939744

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62172321A Pending JPS6416396A (en) 1987-07-10 1987-07-10 Method of controlling acceleration at time of emergency stoppage

Country Status (1)

Country Link
JP (1) JPS6416396A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100389938C (en) * 2001-07-16 2008-05-28 株式会社三协精机制作所 Manipulator control device
CN112428301A (en) * 2020-09-28 2021-03-02 重庆瑞普机器人研究院有限责任公司 Emergency brake impact force calculation method of mobile robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100389938C (en) * 2001-07-16 2008-05-28 株式会社三协精机制作所 Manipulator control device
CN112428301A (en) * 2020-09-28 2021-03-02 重庆瑞普机器人研究院有限责任公司 Emergency brake impact force calculation method of mobile robot
CN112428301B (en) * 2020-09-28 2023-09-26 重庆瑞普机器人研究院有限责任公司 A method for calculating the sudden braking impact force of mobile robots

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