摘要

This paper deals with two methods to speed-up the robot arm motion. One relates to the mechanical structure and the other to the computer control. Parallel linkage robot with two degrees of freedom has been developed. Total arm length is 800 mm, arm weight 2.32 kg, payload 2 kg, 70 W +70 W DC motors, maximum velocity 0.7 m/s, maximum acceleration 9.8 m/s2. It has the feature that it has the higher rigidity than conventional robot of which the structure is cantilever type in many cases, and that it can give larger driving force than ever by the same driving motors. Next the time optimal control is applied to this robot in order to attain rapid PTP motion. In this case the control becomes Bang-Bang control theoretically, and it is clarified that the best way for actual control is to change the sign (±) of control signal by observing the state of robot motion. In the experiment, the accurate positioning is obtained in PTP motion in minimum time.