Abstract: A linear interpolating method used for controlling the movement of a robot in which a speed distribution at the time of linear movement of a multi-articular robot involves a linear acceleration and deceleration so that precision of movement is improved at a driving start point and an end point of the robot. Linear acceleration and deceleration are realized by a discrete time state equation so that a sampling time is reduced and the precision of a straight line is improved while making high speed movement possible. The method computes a positional deviation on the basis of the present position and a target position and then exact driving is maintained via compensating for positional deviation.

Abstract: This invention relates to a position controlling method for a robot in which a residual vibration is suppressed during the position controlling of a horizontal multiple articulation robot or an orthogonal robot. High speed position control is possible. A sampling time is reduced by executing acceleration and deceleration with a discrete time state equation. Highly precise control for a robot is obtained by a method which determines the maximum movement amount from the movement amount of each axis at an input pulse number computing step. The method also seeks the number of input pulses moved at every sampling time in the case of no acceleration and deceleration. The method further seeks the input pulse of the axis except the axis of maximum movement amount from the number of input pulses. The aiming position of each axis at every sampling time is computed using the discrete time state equation. The present position of each axis is detected.

Abstract: A position control apparatus and method for controlling a servo motor includes a D/A unit which converts speed command to analog signals, an up/down counter which increases and decreases pulse of encoder based on the rotating direction of a servo motor in either the x or y directions, and a timer periodically generating interrupt signal to a microprocessor. The position control apparatus and method that can control a servo motor by calculating simple linear equation without calculating complicated exponential function if the maximum speed of the servo motor and time required for the servo motor to reach its destination position is furnished to the control system.