METHOD FOR LIMITING THE RATE-OF-CHANGE OF ACCELERATION IN NUMERICAL DRIVING SYSTEMS

A numerically-controlled driving system has a rate-of-change limiter that is applicable to positioning- and continuous-path-control systems as used in robots, machine tools, elevators, etc. When control signals are input, sudden variations in acceleration or velocity are damped, because the discrete control values calculated by a numerical control system are filtered by a pulse filter in accordance with the principle of discrete convolution.