METHOD FOR DECREASING DRIVING TIME OF BODY AND MULTI-SHAFT ROBOT SYSTEM

PURPOSE: To optimize a trajectory before a robot moves by utilizing maximum speed deflection angle calculation at each summit, specific heap sort and summit addition technique which secures the robot's fast linear movement. CONSTITUTION: Stepper motors SM1 to SM4 which connects to an output of...

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Bibliographische Detailangaben
1. Verfasser:	JIYON SAMU BACHIERUDAA
Format:	Patent
Sprache:	eng
Schlagworte:	ADDITIVE MANUFACTURING TECHNOLOGY ADDITIVE MANUFACTURING, i.e. MANUFACTURING OFTHREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVEAGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING,STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDEDFOR SHAPING OR JOINING OF PLASTICS TRANSPORTING WORKING OF PLASTICS WORKING OF SUBSTANCES IN A PLASTIC STATE, IN GENERAL
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Beschreibung
Zusammenfassung:	PURPOSE: To optimize a trajectory before a robot moves by utilizing maximum speed deflection angle calculation at each summit, specific heap sort and summit addition technique which secures the robot's fast linear movement. CONSTITUTION: Stepper motors SM1 to SM4 which connects to an output of a robot 1's real time controller 12 mechanically connects to a tool 14, and a processor 18 inputs a summit list which efficiently operates the robot 1 to the controller 12 and drives the tool 14 along a prescribed trajectory in a minimum time by means of the motors SM1 to SM4 in a fast prototype production system 10. Then, maximum speed that passes through one dot of the trajectory corresponding to a summit, puts the tool 14 in translation motion and supports it is decided in every summit which defines a desired trajectory. The summit list is corrected if necessary and converted into drive signals to the stepper motors SM1 to SM4 so that the tool 14 may pass through the trajectory at a minimum time without exceeding this maximum speed in any summit.