SCARA型ロボットの運動制御の高精度化に関する研究
動力学的補償による精度改善
1988 年 54 巻 5 号 p. 977-982
詳細
1988 年 54 巻 5 号 p. 977-982
This paper describes a study on the SCARA robot motion control algorism. Robot motion is under the influence of many factors, such as inertia of arms, stiffness of robot structure, friction at joints, etc. These factors cause the error of robot motion from the input path. If we want to improve the error and make precise robot motion it is necessary to take those factors into account. In this paper, a dynamic model of the SCARA robot is introduced to the robot control algorism and the softwared servo system is employed to control the DC motor which actuates the SCARA robot arms. The robot control system is constructed as hierarchy structure based on micro computers. The dynamic calculation is executed on 16 bit computer, and the DC motor control is executed by 8 bit micro computer. As a result, the improvement of the accuracy of CP (Continuous Path) control is accomplished, and it is certified the effect of the control algorism by the experimental results in this paper.
