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KR940006714A - Orbital Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot - Google Patents

Orbital Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot Download PDF

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Publication number
KR940006714A
KR940006714A KR1019920017031A KR920017031A KR940006714A KR 940006714 A KR940006714 A KR 940006714A KR 1019920017031 A KR1019920017031 A KR 1019920017031A KR 920017031 A KR920017031 A KR 920017031A KR 940006714 A KR940006714 A KR 940006714A
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KR
South Korea
Prior art keywords
articulated robot
acceleration time
horizontal articulated
trajectory
robot
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Ceased
Application number
KR1019920017031A
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Korean (ko)
Inventor
이광남
Original Assignee
김회수
금성기전 주식회사
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Application filed by 김회수, 금성기전 주식회사 filed Critical 김회수
Priority to KR1019920017031A priority Critical patent/KR940006714A/en
Publication of KR940006714A publication Critical patent/KR940006714A/en
Ceased legal-status Critical Current

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Abstract

본 발명은 수평 다관절 로봇의 가속시간을 단축하기 위한 궤도 궤적방법에 관한 것으로 가속구간과 등속구간과 감속구간동안 로봇의 동작을 지령해 주는 궤적 방법을 알고리즘화하여 롬에 저장한후 로봇을 구동시킬 때 사용한ㄷ.The present invention relates to an orbital trajectory method for shortening the acceleration time of a horizontal articulated robot. When used.

본 발명에서는 로봇의 가속시간을 단축하기 위한 최대 가속도를 구하는 제1스텝과, 로봇의 가속시간을 단축하는 제2스텝과, 로봇의 가속시간을 단축하기 위한 로봇의 가속시간을 단축하기 위한 로봇의 위치 궤적을 구성하는 제3스텝을 포함하여 이루어진다.In the present invention, the first step for obtaining the maximum acceleration for reducing the acceleration time of the robot, the second step for reducing the acceleration time of the robot, the robot for reducing the acceleration time of the robot for reducing the acceleration time of the robot And a third step constituting the position trajectory.

Description

수평 다관절 로봇의 가속시간을 단축하기 위한 구도 궤적방법Composition Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제5도는 본 발명 로봇 암 인식을 설명하기 위한 도면,5 is a view for explaining the robot arm recognition of the present invention,

제6도는 본 발명 최대 가속도를 결정하는 알고리즘,6 is an algorithm for determining the maximum acceleration of the present invention,

제7도는 본 발명 가속시간을 결정하는 알고리즘,7 is an algorithm for determining the acceleration time of the present invention,

제8도는 본 발명 위치 궤적을 구성하는 알고리즙,8 is an algorithm that constitutes the present invention locus,

제9도는 수평 다관절 로봇의 본체를 나타낸 도면.9 is a view showing the main body of the horizontal articulated robot.

Claims (4)

수평 다관절 로봇의 동작지령의 기준이 되는 최대 가속도를 구하는 제1스텝과, 수평 다관절 로봇의 가속시간을 결정하는 제2스텝과, 수평 다관절 로봇의 가속시간을 단축하기 위한 위치 궤적을 굿어하는 제3스텝을 포함하여서 된 것을 특징으로 하는 수평 다관절 로봇의 가속시간을 단축하기 위한 궤도 궤적방법.The first step of obtaining the maximum acceleration, which is the reference of the operation command of the horizontal articulated robot, the second step of determining the acceleration time of the horizontal articulated robot, and the position trajectory for shortening the acceleration time of the horizontal articulated robot. An orbital trajectory method for shortening the acceleration time of a horizontal articulated robot, comprising a third step. 제1항에 있어서, 상기 1스텝은 수평 다관절 로봇의 동작지령의 기준이 되는 최대 가속도를 구하는 제1스텝과, 수평 다관절 로봇의 가속시간을 결정하는 제2스텝과, 수평 다관절 로봇의 가속시간을 단축하기 위한 위치 궤적을 굿어하는 제3스텝을 포함하여서 된 것을 특징으로 하는 수평 다관절 로봇의 가속시간을 단축하기 위한 궤도 궤적방법.The method of claim 1, wherein the first step includes: a first step of obtaining a maximum acceleration as a reference of an operation command of the horizontal articulated robot; a second step of determining an acceleration time of the horizontal articulated robot; A trajectory trajectory method for shortening the acceleration time of a horizontal articulated robot, comprising a third step of controlling a position trajectory for shortening the acceleration time. 제1항에 있어서 수평 다관절 로봇의 동작지령의 기준이 되는 최대 가속도를 구하는 제1스텝과, 수평 다관절 로봇의 가속시간을 결정하는 제2스텝과, 수평 다관절 로봇의 가속시간을 단축하기 위한 위치 궤적을 굿어하는 제3스텝을 포함하여서 된 것을 특징으로 하는 수평 다관절 로봇의 가속시간을 단축하기 위한 궤도 궤적방법.The method of claim 1, wherein the first step of obtaining the maximum acceleration as a reference of the operation command of the horizontal articulated robot, the second step of determining the acceleration time of the horizontal articulated robot, and the acceleration time of the horizontal articulated robot are shortened. A trajectory trajectory method for shortening the acceleration time of the horizontal articulated robot, characterized in that it comprises a third step of good position trajectory. 제1항에 있어서 수평 다관절 로봇의 동작지령의 기준이 되는 최대 가속도를 구하는 제1스텝과, 수평 다관절 로봇의 가속시간을 결정하는 제2스텝과, 수평 다관절 로봇의 가속시간을 단축하기 위한 위치 궤적을 굿어하는 제3스텝을 포함하여서 된 것을 특징으로 하는 수평 다관절 로봇의 가속시간을 단축하기 위한 궤도 궤적방법.The method of claim 1, wherein the first step of obtaining the maximum acceleration as a reference of the operation command of the horizontal articulated robot, the second step of determining the acceleration time of the horizontal articulated robot, and the acceleration time of the horizontal articulated robot are shortened. A trajectory trajectory method for shortening the acceleration time of the horizontal articulated robot, characterized in that it comprises a third step of good position trajectory. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920017031A 1992-09-18 1992-09-18 Orbital Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot Ceased KR940006714A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920017031A KR940006714A (en) 1992-09-18 1992-09-18 Orbital Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920017031A KR940006714A (en) 1992-09-18 1992-09-18 Orbital Trajectory Method for Reducing Acceleration Time of Horizontal Articulated Robot

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KR940006714A true KR940006714A (en) 1994-04-25

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8889470B2 (en) 2008-06-13 2014-11-18 Jusung Engineering Co., Ltd. Thin film type solar cell and method for manufacturing the same
KR20230153588A (en) * 2022-04-29 2023-11-07 고려대학교 산학협력단 Manufacturing method of solar cell module

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8889470B2 (en) 2008-06-13 2014-11-18 Jusung Engineering Co., Ltd. Thin film type solar cell and method for manufacturing the same
KR101463925B1 (en) * 2008-06-13 2014-11-27 주성엔지니어링(주) Thin film type Solar Cell, and Method for manufacturing the same
KR20230153588A (en) * 2022-04-29 2023-11-07 고려대학교 산학협력단 Manufacturing method of solar cell module

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