A digitally controlled acceleration and deceleration system in which the goal velocity applied to the object in the acceleration mode and the deceleration mode changes linearly, instead of the flat goal velocity, thus, the acceleration and/or deceleration applied to the object to be controlled in the feedback loop becomes flat, and the acceleration time and/or deceleration time is reduced. The outputs of the variable frequency pulse generator and the fixed frequency pulse generator are combined together to provide said goal velocity, and the number of the sum of two pulse generators is utilized as a command position for the movement of the object.
A robot control apparatus provides shortened operating times for movement of a robot member, such as an arm, hand, or the like, without accelerating the movements so as to unduly stress the robot, by beginning movement of the member in a second direction when motion in a first direction has been decelerated to a predetermined level. The process is repeated, when a third movement is involved, with the third movement being initiated, for example, when the second movement has decelerated to an appropriate level. An inhibit control is provided for inhibiting motion of the robot arm in the event of faulty parts preparation, mislocation of a part, or when an obstruction is present.
A positioning control system which has a servo system provided with a position feedback system for detected positional information and a velocity feedback system for detected velocity information of a motor and in which the motor is driven by the servo system in accordance with commanded positional information to position a movable machine part of a numerical-controlled machine. The disparity between the detected velocity of the movable machine part and the detected motor velocity is fed back to the control input side of the motor, thereby suppressing vibration of the movable machine part at the moment of completion of the positioning operation.
First and second tool control blocks respectively precede and follow a corner on a tool path. A pulse distribution computation based on NC command data in the second block is not executed at the instant that a pulse distribution computation based on NC command data in the first block ends. Rather, a pulse distribution computation based on the NC command data in the second block is performed starting at the instant that a feed speed based on the NC command data in the first block is reduced to a prescribed speed by being decelerated. As a result, the torch of a gas cutting machine or the like will cut the corner portion quickly with a high degree of accuracy and without cutting the corner to an overly rounded shape.
A method and apparatus for controlling the deceleration of a motor driven body in which deceleration is controlled as a function of the difference between the output energy of the driving motor and the kinetic energy of the driven body.
A positioning control apparatus for accurately positioning a tool and workpiece and for reducing the vibration related to positioning. The system comprises a machining table fitted with a workpiece and designed to be movable on a bed. A first detector detects the acceleration of the machining table in a moving direction, and a second detector detects the acceleration in the moving direction of a tool fitted to a column that also is coupled with the bed. The outputs of the first and second detectors are used to suppress the relative vibration of the workpiece fitted to the machining table and the tool fitted to the column in the moving direction.
