JPS6416396A - Method of controlling acceleration at time of emergency stoppage - Google Patents
Method of controlling acceleration at time of emergency stoppageInfo
- 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
Links
- 230000001133 acceleration Effects 0.000 title abstract 9
- 239000000126 substance Substances 0.000 abstract 1
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.
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)
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 controller |
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 |
-
1987
- 1987-07-10 JP JP62172321A patent/JPS6416396A/en active Pending
Cited By (3)
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 controller |
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 | Method for calculating sudden braking impact force of mobile robot |
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