Optimizing motion speed and acceleration according to the load on the tip of the robot arm and robot posture shortens the tact time.
The optimal speed and acceleration differ according to the mass and the position of the center of gravity of tools and workpieces that are attached to the tip of the robot arm. For this reason, the mass and the position of the center of gravity of tools and workpieces and the mode are adjusted according to the load on the tip of the robot arm and its posture.
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