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11.发明公开MOTOR CONTROL APPARATUS, MOTOR CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM 审中-公开电机控制装置，电机控制方法，程序和记录介质
公开(公告)号：EP3217235A1
公开(公告)日：2017-09-13
申请号：EP16204031.5
申请日：2016-12-14
申请人： OMRON CORPORATION
发明人： ONO, Yasushi , EGI, Mamoru , KAWANISHI, Yasutomo , MORI, Yasumoto
CPC分类号： G05B13/041 , G05B13/04 , G05B2219/41112 , G05B2219/41426 , G05D17/02 , H02P7/00 , H02P29/032
摘要： The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus (1) includes: a feedback control part (20), generating a driving torque instruction value used to enable the servo motor (2) to perform driving based on a detection value of an encoder (4) that performs detection on a rotational state of a servo motor (2); and a feedforward control part (10), generating a model torque instruction value, and outputting the model torque instruction value to the feedback control part (20), where the feedforward control part (10) has a model torque limiter (104) that limits the model torque instruction value within a first limit range.
摘要翻译： 本发明实现了用于稳定受控对象的行为的模型跟踪电动机控制装置。 控制装置（1）包括：反馈控制部（20），其基于编码器（4）的检测值，生成用于使伺服电动机（2）能够进行驱动的驱动转矩指令值，该编码器 伺服电机（2）的旋转状态; 以及前馈控制部（10），生成模型转矩指令值，并将该模型转矩指令值输出到反馈控制部（20），前馈控制部（10）具有模型转矩限制器（104） 模型转矩指令值在第一极限范围内。
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12.发明公开CONTROL DEVICE, CONTROL SYSTEM AND CONTROL METHOD 审中-公开STEUERVORRICHTUNG，STEUERSYSTEM UND STEUERVERFAHREN
公开(公告)号：EP2629163A1
公开(公告)日：2013-08-21
申请号：EP11832309.6
申请日：2011-03-16
申请人： Omron Corporation
发明人： EGI, Mamoru
IPC分类号： G05B19/416
CPC分类号： G05B19/18 , G05B19/416 , G05B2219/41408 , G05B2219/42244 , G05B2219/43061
摘要： There is provided a control apparatus for controlling a device having a movable unit movable by a plurality of drive shafts. The control apparatus includes: target trajectory generation means for generating a target trajectory for a movement section defined by a start point and an end point; remaining distance estimation means for estimating a remaining distance along the target trajectory from a current position to the end point; acceleration calculation means for calculating an acceleration involved in varying a current movement velocity of the movable unit to a target velocity corresponding to a movement velocity to be satisfied by the movable unit at the end point of the target trajectory, such that a distance that the movable unit will have traveled substantially matches the remaining distance; and movement velocity updating means for calculating a new target movement velocity value by correcting the current movement velocity with the acceleration calculated.
摘要翻译： 提供了一种用于控制具有可由多个驱动轴移动的可移动单元的装置的控制装置。 控制装置包括：目标轨迹生成装置，用于生成由起点和终点限定的运动部的目标轨迹; 剩余距离估计装置，用于估计沿着目标轨迹从当前位置到终点的剩余距离; 加速度计算装置，用于计算将可移动单元的当前移动速度改变为与可移动单元在目标轨迹的终点处满足的移动速度相对应的目标速度所涉及的加速度，使得可移动的距离 单位将与其余距离大致匹配; 以及运动速度更新装置，用于通过以计算的加速度校正当前的运动速度来计算新的目标运动速度值。
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13.发明公开
公开(公告)号：EP4245478A1
公开(公告)日：2023-09-20
申请号：EP23157879.0
申请日：2023-02-22
申请人： OMRON Corporation
发明人： EGI, Mamoru
IPC分类号： B25J9/16
摘要： A technique allows a robot gripping one of two objects to perform appropriate surface alignment between the two objects. A control apparatus for a robot includes a virtual sensor associated with a force sensor and set on a control plane for predetermined control to control a position of a first object relative to a second object by causing a first surface of the first object gripped by a gripper to abut on a second surface of the second object, and a controller that performs the predetermined control based on a detection result from the virtual sensor using a control point set on the control plane based on a state of the first object being gripped by the gripper. The virtual sensor is projected on an imaginary line at a projection position between a predetermined contact point and the control point in an extending direction of the imaginary line on the control plane connecting the control point and the predetermined contact point being a contact point between the two objects and set on the control plane to place the first object into contact with the second object before the first surface abuts on the second surface in the predetermined control.
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公开(公告)号：EP3764172A1
公开(公告)日：2021-01-13
申请号：EP19764119.4
申请日：2019-01-18
申请人： Omron Corporation
发明人： NAKAJIMA, Kenji , EGI, Mamoru
摘要： A servo control method includes a step of adjusting a feedback gain used in feedback control of a controlled object, the feedback control being performed based on difference information between a target value concerning an instruction and a feedback signal from the controlled object, so that the controlled object is operated by following the instruction, and a step of adjusting a feedforward gain used in feedforward control of the controlled object after the adjustment of the feedback gain.
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公开(公告)号：EP3703250A1
公开(公告)日：2020-09-02
申请号：EP18870729.3
申请日：2018-10-10
申请人： Omron Corporation
发明人： TANAKA, Masahito , EGI, Mamoru
摘要： Provided is a technology of enabling notification, to a user, that the state of a machine system has changed prior to occurrence of machine resonance, irrespective of the direction of a resonance frequency change. This servo driver is provided with: a servo control means for controlling a servo motor in accordance with a time-sequentially inputted command; a calculation means for time-sequentially collecting input data and output data for use in calculation of the frequency response of the servo control means while the servo control means is performing control, in accordance with a command for driving the servo motor itself, based on the command, and calculating a frequency response of the servo control means within a frequency range including a resonance peak, on the basis of the collected data; a specification means for specifying the gain of the resonance peak from the calculated frequency response; and an information output means for comparing the specified gain with a threshold lower than 0 dB, and outputting, when the gain is equal to or greater than the threshold, information for notifying, to a user, that the state of a machine system such as the servo motor has changed.
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公开(公告)号：EP3594759A1
公开(公告)日：2020-01-15
申请号：EP18763399.5
申请日：2018-01-30
申请人： Omron Corporation
发明人： URABE, Kentaro , EGI, Mamoru
摘要： A simulation device includes: a simulation system including a predetermined feedback system having, as a forward element, at least a predetermined control block structure corresponding to a predetermined device-side configuration including a control object; a holding unit holding impulse response information for calculation that is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit calculating a time response of the predetermined device-side configuration to a predetermined input value by convolution processing using the impulse response information for calculation and the predetermined input value; and a second response calculation unit calculating a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit. According to this configuration, simulation accuracy of a control system is improved, the control system having: a control object including a motor; and a motor control device controlling the motor.
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18.发明公开
公开(公告)号：EP3220537A3
公开(公告)日：2018-03-21
申请号：EP17152061.2
申请日：2017-01-18
申请人： Omron Corporation
摘要： The present invention realizes a motor control apparatus and the like capable of obtaining an appropriate frequency characteristic. The motor control apparatus of the present invention includes a command value generating portion (10), a torque saturation detecting portion (61) for determining whether a driving value based on a command value exceeds a driving value capable of being output from the apparatus, a current saturation detecting portion (71), a voltage saturation detecting portion (72), and a command value correcting portion (20) for correcting the command value when the driving value is determined as being exceeded.
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公开(公告)号：EP4417378A1
公开(公告)日：2024-08-21
申请号：EP24153979.0
申请日：2024-01-25
申请人： OMRON Corporation
发明人： EGI, Mamoru
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B2219/4003220130101 , B25J9/1633
摘要： There is provided a controller for fitting a first workpiece and a second workpiece to each other using a robot. The robot has a gripping mechanism for gripping the first workpiece, and a force sensor. The controller causes the robot to perform an operation of pressing the first workpiece against the second workpiece with a predetermined force, and an operation of changing a posture of the first workpiece with respect to the second workpiece in a state where the first workpiece is pressed against the second workpiece. The controller searches for the posture of the first workpiece in which a first surface of the first workpiece to be in contact with the second workpiece and a second surface of the second workpiece to be in contact with the first workpiece are parallel to each other, based on an evaluation index related to a distance between the first workpiece and the second workpiece.
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公开(公告)号：EP3726304A1
公开(公告)日：2020-10-21
申请号：EP18888118.9
申请日：2018-12-12
申请人： Omron Corporation
发明人： EGI, Mamoru
摘要： A control system for causing an output of a control target to follow a command includes: a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a state equation, performs model predictive control using the first processor, and outputs a servo command corresponding to the control input at an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a feedback system including controllers to which a feedback signal related to an operation of the predetermined control target is input and receiving the servo command from the first processing device, and performs feedback control using the second processor.
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