公开(公告)号：EP0402788A2

公开(公告)日：1990-12-19

申请号：EP90110882.9

申请日：1990-06-08

申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

发明人： Miyake, Norihisa ,  Sumita, Masaki ,  Sugimoto, Koichi

IPC分类号： G05B19/41

CPC分类号： G05B19/4086

摘要： A method of controlling the movements of a robot (1) having a plurality of degrees of freedom comprises the expression of attitudes of a hand (2) or a working tool fitted to the arm end of the robot, the expression being effected such that base vectors of a rectangular coordinate system (20) fixed to the hand (2) or the working tool are given as coordinate components related to a rectangular coordinate system (10) which is fixed to the pedestal of the robot and which serves as reference, interpolation and movement control being performed on the basis of the data thus obtained. By thus performing control, it is made possible to reduce the real-time calculation processings involved and realize a highly accurate robot movement which is smooth in terms of both time and space.

摘要翻译： 控制具有多个自由度的机器人（1）的运动的方法包括表示安装在机器人的臂端上的手（2）或工作工具的态度，表达方式使得基座 作为与固定在手（2）或作业工具上的直角坐标系（20）的向量作为与固定在机器人的基座上并作为基准的直角坐标系（10）相关的坐标， 并且基于由此获得的数据执行移动控制。 通过这样进行控制，可以减少所涉及的实时计算处理，实现在时间和空间方面平滑的高精度机器人运动。

公开(公告)号：EP0321577A4

公开(公告)日：1990-12-12

申请号：EP88905423

申请日：1988-06-14

申请人： FANUC LTD

发明人： KAWAMURA, HIDEAKI ,  FUJIBAYASHI, KENTARO ,  OTSUKI, TOSHIAKI

IPC分类号： G05B19/4103 ,  G05B19/41 ,  G05B19/415

CPC分类号： G05B19/41 ,  G05B2219/34144 ,  Y10T409/101272 ,  Y10T409/303752

摘要： An involute interpolation method for numerically controlled machining. The direction (G03.1) of rotation of an involute curve, amount or angle of moving, center position (XO, YO) of a base circle, and the radius (R) of a base circle are designated for interpolation on the involute curve at regular intervals of distance or angle. The process is executed by a numerical control apparatus and pulse distribution is continued so that interpolation on an involute curve can be performed without any particular programming device.

公开(公告)号：EP0289151A3

公开(公告)日：1990-06-06

申请号：EP88303068.6

申请日：1988-04-06

申请人： GENERAL MOTORS CORPORATION

发明人： Goor, Robert Mindell

IPC分类号： G05B19/407 ,  G05B19/19 ,  G05B19/41 ,  G05B19/23

CPC分类号： G05B19/19 ,  G05B2219/35237 ,  G05B2219/41177 ,  G05B2219/41427 ,  G05B2219/41435 ,  G05B2219/41437 ,  G05B2219/42337 ,  G05B2219/42342 ,  G05B2219/43162

摘要： A feedforward path following routine for a motion control apparatus, where the feedforward parameters are adaptively adjusted in real time during apparatus operation for substantially error-free tracking of a third-order command path.

公开(公告)号：EP0365001A2

公开(公告)日：1990-04-25

申请号：EP89119413.6

申请日：1989-10-19

申请人： Madokoro, Yoichi ,  Ono, Yukio

发明人： Madokoro, Yoichi ,  Ono, Yukio

IPC分类号： G05B19/405 ,  G05B19/41

CPC分类号： B23Q33/00 ,  G05B19/408 ,  G05B19/41 ,  G05B2219/35533

摘要： A method for the three-dimensional processing wherein two-dimensional information is stored in a memory so as to subject a workpiece to the mechanical three-dimensional processing including the X-, the Y- and the Z-axes meeting at right angles to one another. An apparatus for subjecting a workpiece to the mechanical three-dimensional processing including the X-, the Y- and the Z-axes meeting at right angles to one another, which comprises a machine tool having motors for moving a cutter and a work rest relatively in the directions of the X-, the Y- and the Z-axes. The apparatus further comprises a controller which stores two-dimensional information on two axes corresponding to each point on the other axis and controls the motors based on the stored information to move the cutter and the work rest in the directions of the X-, the Y- and the Z-axes.

摘要翻译： 一种用于三维处理的方法，其中将二维信息存储在存储器中，以使工件对包括X轴，Y轴和Z轴在内的机械三维处理与一个 另一个。 一种用于使工件进行包括X轴，Y轴和Z轴彼此成直角的机械三维处理的装置，其包括具有用于相对地移动切割器和工作台的电动机的机床 在X，Y和Z轴的方向上。 该装置还包括控制器，其存储对应于另一轴上的每个点的两个轴上的二维信息，并且基于所存储的信息控制电动机，以沿着X，Y的方向移动切割器和工作台 - 和Z轴。

公开(公告)号：EP0269286A3

公开(公告)日：1990-03-07

申请号：EP87309670.5

申请日：1987-11-02

申请人： Renishaw plc

发明人： McMurtry, David Roberts

IPC分类号： G05B19/41 ,  G05B19/18

CPC分类号： G05B19/4015 ,  G05B2219/37025 ,  G05B2219/50026 ,  G05B2219/50032

摘要： For setting the cutting tip (30) of a cutting tool (32) of a lathe, a tool-setting probe (10) has a stylus tip (18) for contacting the tool tip (30). The stylus tip (18) is generally cube-shaped. In addition to a conventional vertical datum surface (36) for setting the tool in the horizontal direction (arrow A), it has a 45° sloping datum surface (38). The tool is touched in the direction of arrow A against both surfaces (36,38). The horizontal difference between the two contact positions is a measure of the height of the tool tip (30), enabling it to be set in the vertical direction.

公开(公告)号：EP0229852A4

公开(公告)日：1990-01-08

申请号：EP86904385

申请日：1986-07-17

申请人： FANUC LTD

发明人： TANAKA KUNIO ,  ONISHI YASUSHI

IPC分类号： G05B19/402 ,  B23Q15/00 ,  G05B19/4093 ,  G05B19/41 ,  G05B19/403

CPC分类号： G05B19/41 ,  G05B2219/49381

摘要： Region machining method by which the interior of a region (AB) is machined by moving a tool along a plurality of offset passages which are in turn offset inwardly by a predetermined space from a closed curved line (OLC) which defines the region. In this region machining method, a judgement whether the region (AR) encompassed by the closed curved line (OLC) should be or should not be divided is made, and, when it is necessary that the region be divided, the degrees of suitability for dividing of all pairs, each of which consists of two arbitrary vertexes, are determined by using evaluating functions indicating preset degrees of suitability for dividing. The region is divided by a straight line which connects a pair of two vertexes (P5, P7) having the highest degree of suitability for dividing. The divided regions (PG1, PG2) are then processed in the same manner as mentioned above. Tool passages are determined on the basis of finally-divided regions, and the region machining is carried out by moving the tool along this tool passages.

公开(公告)号：EP0145967B1

公开(公告)日：1989-10-11

申请号：EP84113823.3

申请日：1984-11-15

申请人： MITSUBISHI DENKI KABUSHIKI KAISHA

发明人： Kato, Kiyotaka ,  Oshima, Michitaka

IPC分类号： G05B19/41

CPC分类号： G05B19/41

公开(公告)号：EP0188626A4

公开(公告)日：1988-12-12

申请号：EP85903397

申请日：1985-07-13

申请人： FANUC LTD

发明人： SAKAKIBARA SHINSUKE ,  KARAKAMA TATSUO

IPC分类号： B25J9/18 ,  G05B19/18 ,  G05B19/404 ,  G05B19/41

CPC分类号： G05B19/182 ,  G05B19/41 ,  G05B2219/39399 ,  G05B2219/45083 ,  G05B2219/50291

摘要： A system for correcting the position of a new tool (16), which is set on a hand (15) of a robot after the tool used in a preceding process has been replaced thereby, is constructed so that the information on each axis of the robot at a point in time which is after the completion of a tool-replacing operation, can be obtained on the basis of the information, which is given before the starting of such a tool-replacing operation, the information (TCP1) on the position of the tool at this time and the information (TCP2) on the position of the tool at a point in time which is after the completion of the tool-replacing operation.

公开(公告)号：EP0279886A1

公开(公告)日：1988-08-31

申请号：EP87102813.0

申请日：1987-02-27

申请人： HBS Heberle Bolzenschweiss-Systeme GmbH & Co KG

发明人： Heberle, Manfred

IPC分类号： G05B19/41

CPC分类号： G05B19/4015

摘要： Die Erfindung beschreibt ein Verfahren, bei welchem am Ist-Nullpunkt eines Koordinaten-Schweißtisches zwei Sensoren angeordnet werden, die auf die beiden Koordinatenrichtungen ausgerichtet sind. Ein mit einem Meßdorn ausgestatteter Schweißelementehalter wird so lange auf diesen Nullpunkt zu bewegt, bis beide Sensoren aktiviert sind. Unter Berück­sichtigung des Abstandes der Sensoren vom Ist-Nullpunkt und des Meßdorn-Durchmessers kann daraufhin der Ist-Nullpunkt von einer elektronischen Steuerung ermittelt werden. Das Verfahren hat die Aufgabe, eine durch einen Innendurchmesser­versatz bedingte Abweichung eines in der Steuerung abge­speicherten Soll-Nullpunktes vom Ist-Nullpunkt zu korrigieren.

摘要翻译： 本发明描述了其中两个传感器，在两个对齐的坐标方向，位于所述实际零点坐标焊接表的方法。 配有测试心轴的焊接元件保持器朝向该零点移动，直到两个传感器被激活。 考虑到传感器的从实际的零点的距离和测试心轴的直径，实际零点然后可以确定性通过在电子控制系统开采。该方法的目的是纠正任何偏差，由未对准引起的 内径，参考零点的，存储在控制系统中，从实际的零点。

公开(公告)号：EP0235293A4

公开(公告)日：1988-08-10

申请号：EP86903607

申请日：1986-06-19

申请人： FANUC LTD

发明人： SEKI MASAKI ,  AMANO NORIHISA

IPC分类号： G05B19/4093 ,  G05B19/41 ,  G05B19/403 ,  B23Q15/00

CPC分类号： G05B19/41 ,  G05B2219/34098

摘要： Method of producing compound curved surfaces, consisting of the step of rounding (ARC) with a radius R at an intersecting portion between a first linear approximated curved line (11) on a first three-dimensional curved surface (1) and a second linear approximated curved line (12) on a second three-dimensional curved surface (2) so as to produce a compound curved surface. Out of segments (Pi Pi-l) constituting the first curved line (11), and segments (Pj Pj+l) constituting the second curved line (12), one segment which is nearest to the intersection (PO) of these curved lines is selected from these curved lines successively. These two segments (PiPi-l, Pj Pj+l) are then checked whether there exists the arc of radius of R, which is tangent to said segment. When there is such an arc, it is inserted into the intersecting portion between the curved lines (11, 12) to round the intersecting portion. However, when there exists no such an arc, segments which are next nearest to the intersection (PO) are selected, and the same process as mentioned above is repeated to insert the arc into the intersecting portion to thereby round the same.

摘要翻译： 1。一种制造复合曲面的方法，包括在第一三维曲面（1）上的第一线性近似曲线（11）与第二三维曲面（1）之间的相交部分处以半径R倒圆（ARC） 在第二三维曲面（2）上形成曲线（12），以产生复合曲面。 在构成第一曲线（11）的段（Pi Pi-1）和构成第二曲线（12）的段（Pj Pj + 1）中，最靠近这些曲线的交点（PO） 从这些曲线中连续选择。 然后检查这两个段（PiPi-1，Pj Pj + 1）是否存在与所述段相切的R的半径的弧。 当存在这样的电弧，其被插入到弯曲线之间的（11 12）的交叉部圆的交叉部。 但是，在不存在这样的电弧的情况下，选择与交点PO最接近的线段，重复与上述相同的处理，将电弧插入交叉部分并进行圆角化。