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435 条记录 (耗时 0.017 秒)

    Control circuit for an industrial robot
    71.
    发明公开
    Control circuit for an industrial robot 失效
    工业机器人的控制电路

    公开(公告)号：EP0047113A3

    公开(公告)日：1983-07-06

    申请号：EP81303830

    申请日：1981-08-21

    申请人： Fanuc Ltd

    发明人： Inaba, Hajimu ,  Miyashita, Hideo

    IPC分类号： G05B19/23

    CPC分类号： G05B19/232 ,  G05B13/02 ,  G05B2219/41024

    摘要： A control circuit (11) for controlling an industrial robot in accordance with a position command signal and a position feedback signal (29), comprises an error register (22), a digital-analog converter (26), and a position gain multiplier (23) connected between the error register and the digital-analog converter. The circuit is operative such that when a motor (30) which drives the robot stops rotating or gets ready to stop rotating and an error value held in the error register (22) becomes higher than a predetermined value, the multiplication factor of the position gain multiplier is increased, whereby a higher positioning accuracy is achieved.

    Method and apparatus for sensing current position in position control system
    72.
    发明公开
    Method and apparatus for sensing current position in position control system 失效
    用于感测位置控制系统中的当前位置的方法和设备

    公开(公告)号：EP0080374A2

    公开(公告)日：1983-06-01

    申请号：EP82306249.2

    申请日：1982-11-24

    申请人： FANUC LTD.

    发明人： Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

    IPC分类号： G05B19/23 ,  B23Q35/123

    CPC分类号： G05B19/18 ,  G05B19/232 ,  G05B2219/42118 ,  G05B2219/50167

    摘要： A method and apparatus for sensing the current position of a movable element in a position control system which include first and second control devices each having command pulse generating means and error storage means for computing and storing an error between a number of command pulses and a number of feedback pulses indicative of an amount of motor movement, a speed control circuit for driving and controlling the motor on the basis of the error in the storage means, and a switching circuit for selectively connecting the first and second control devices to the speed control circuit, the current position of the movable element being sensed by the first control device when the second control device is connected to the speed control circuit. The method, which is also employed by the apparatus, includes the following steps when the second control device is connected to the speed control circuit: reading and storing, as a steady deviation, the error in the error storage means (101 e) of the first control device after the motor is rotated in accordance with the magnitude of drift of a closed loop formed by the second control device; updating the data in a current position register (202) of the first control device on the basic of an arithmetic difference found by subtracting the stored steady deviation from the data in the error storage means (101 e) of the first control device; and revising the data in the error storage means (101e) of the first control device on the basic of the arithmetic difference.

    摘要翻译： 一种用于检测位置控制系统中的可移动元件的当前位置的方法和装置，该位置控制系统包括第一和第二控制装置，每个控制装置具有命令脉冲生成装置和错误存储装置，用于计算和存储多个命令脉冲与一个数字 表示电动机移动量的反馈脉冲，根据存储装置的误差驱动控制电动机的速度控制电路，以及选择性地将第一和第二控制装置连接到速度控制电路的开关电路 当第二控制装置连接到速度控制电路时，可移动元件的当前位置由第一控制装置感测。 当第二控制装置连接到速度控制电路时，该装置也采用的方法包括以下步骤：作为稳定偏差，读取并存储误差存储装置（101e）中的误差 第一控制装置，其在电动机根据由第二控制装置形成的闭环的漂移大小而旋转之后; 基于通过从第一控制装置的错误存储装置（101e）中的数据减去存储的稳定偏差而得到的算术差来更新第一控制装置的当前位置寄存器（202）中的数据; 并根据算术差异修正第一控制装置的错误存储装置（101e）中的数据。

    Apparatus for controlling the movement of a movable element
    73.
    发明公开
    Apparatus for controlling the movement of a movable element 失效
    用于控制可移动元件的运动的装置

    公开(公告)号：EP0043733A3

    公开(公告)日：1983-01-19

    申请号：EP81303105

    申请日：1981-07-07

    申请人： XEROX CORPORATION

    发明人： Ragen, Robert A. ,  Herendeen, Carl E.

    IPC分类号： G05B19/23 ,  B41J01/30

    CPC分类号： G05B19/232 ,  G05B2219/41326 ,  G05B2219/42182 ,  G05B2219/43006 ,  G05B2219/43047

    摘要： Apparatus is disclosed for controlling the movement of a movable element (20 or 22) between an initial starting position and a final stopping position. The apparatus comprises drive means (34 or 36) coupled to the movable element and responsive to motor drive signals for moving the movable element (20 or 22) along a predefined path between the starting and stopping positions. The apparatus generates an actual velocity signal indicative of the actual speed of movement of the movable element, a position signal indicative of the distance remaining to travel by the movable element toward the desired stopping position and first and second command velocity signals respectively indicative of the minimum and maximum desired velocity levels for such particular distance remaining to travel. A controller (26) is responsive to the position signal for comparing the actual velocity signal with each of the first and second command velocity signals when the value of the position signal indicates the movable element has greater than a predetermined distance to travel, and for issuing the motor drive signals in response to such comparison for application to the drive means (34 or 36) to cause (a) the acceleration of the movable element (20 or 22) by the drive means when the comparison indicates the actual velocity of the movable element is less than the minimum desired velocity, (b) the coasting of the movable element when the comparison indicates the actual velocity of the movable element is more than the minimum desired velocity and less than the maximum desired velocity, and (c) the deceleration of the movable element by the drive means when the comparison indicates the actual velocity of the movable element exceeds the maximum desired velocity.

    Spindle orientation control method and apparatus
    75.
    发明公开
    Spindle orientation control method and apparatus 失效
    用于控制主轴定向的方法和装置。

    公开(公告)号：EP0051477A1

    公开(公告)日：1982-05-12

    申请号：EP81305194.3

    申请日：1981-10-30

    申请人： FANUC LTD.

    发明人： Kohzai, Yoshinori ,  Fujioka, Yoshiki ,  Ota, Naoto

    IPC分类号： G05B19/23 ,  G05B19/39

    CPC分类号： G05B19/232 ,  G05B19/39 ,  G05B2219/49273

    摘要： A spindle orientation control system having a speed control circuit (1) and a position control circuit (4) for rotating the spindle (7) of a machine tool at a commanded speed and for stopping the spindle (7) at a designated position with a high accuracy, the speed control circuit (1) decelerating the spindle drive motor (6) on the basis of a spindle stopping command. When a predetermined speed has been attained, a counter contained in the position control circuit (4) is triggered by a one-revolution pulse generated whenever the spindle (7) makes one full revolution, whereby the counter begins to count up position pulses each one of which is generated whenever the spindle rotates by a predetermined angle. After a preset predetermined number of pulses have been counted, operation shifts from the speed control mode to a position control mode, and said counter is preset to a number of pulses corresponding to the angle from the present position of the spindle to the desired stopping position. Said pulse number is counted down by the position pulses and, at the same time, a voltage having a level which is proportional to the content of the counter is applied to the spindle drive motor (6), thereby reducing its rotational speed. When the content of the counter reaches a value of zero, the spindle (7) is stopped at the predetermined position. Adjusting the value preset in the counter makes it possible to correct a spindle stopping position error that results from a difference in the position of the leading or trailing edge of the one revolution pulse, said differences arising because the position of the leading or trailing edge of the one-revolution pulse varies depending upon the direction of spindle rotation.

    Control circuit for an industrial robot
    76.
    发明公开
    Control circuit for an industrial robot 失效
    用于工业机器人的控制单元。

    公开(公告)号：EP0047113A2

    公开(公告)日：1982-03-10

    申请号：EP81303830.4

    申请日：1981-08-21

    申请人： FANUC LTD.

    发明人： Inaba, Hajimu ,  Miyashita, Hideo

    IPC分类号： G05B19/23

    CPC分类号： G05B19/232 ,  G05B13/02 ,  G05B2219/41024

    摘要： A control circuit (11) for controlling an industrial robot in accordance with a position command signal and a position feedback signal (29), comprises an error register (22), a digital-analog converter (26), and a position gain multiplier (23) connected between the error register and the digital-analog converter. The circuit is operative such that when a motor (30) which drives the robot stops rotating or gets ready to stop rotating and an error value held in the error register (22) becomes higher than a predetermined value, the multiplication factor of the position gain multiplier is increased, whereby a higher positioning accuracy is achieved.

    Apparatus for controlling the movement of a movable element
    77.
    发明公开
    Apparatus for controlling the movement of a movable element 失效
    Vorrichtung zum Steuern der Bewegung eines beweglichen Elements。

    公开(公告)号：EP0043733A2

    公开(公告)日：1982-01-13

    申请号：EP81303105.1

    申请日：1981-07-07

    申请人： XEROX CORPORATION

    发明人： Ragen, Robert A. ,  Herendeen, Carl E.

    IPC分类号： G05B19/23 ,  B41J1/30

    CPC分类号： G05B19/232 ,  G05B2219/41326 ,  G05B2219/42182 ,  G05B2219/43006 ,  G05B2219/43047

    摘要： Apparatus is disclosed for controlling the movement of a movable element (20 or 22) between an initial starting position and a final stopping position. The apparatus comprises drive means (34 or 36) coupled to the movable element and responsive to motor drive signals for moving the movable element (20 or 22) along a predefined path between the starting and stopping positions. The apparatus generates an actual velocity signal indicative of the actual speed of movement of the movable element, a position signal indicative of the distance remaining to travel by the movable element toward the desired stopping position and first and second command velocity signals respectively indicative of the minimum and maximum desired velocity levels for such particular distance remaining to travel. A controller (26) is responsive to the position signal for comparing the actual velocity signal with each of the first and second command velocity signals when the value of the position signal indicates the movable element has greater than a predetermined distance to travel, and for issuing the motor drive signals in response to such comparison for application to the drive means (34 or 36) to cause (a) the acceleration of the movable element (20 or 22) by the drive means when the comparison indicates the actual velocity of the movable element is less than the minimum desired velocity, (b) the coasting of the movable element when the comparison indicates the actual velocity of the movable element is more than the minimum desired velocity and less than the maximum desired velocity, and (c) the deceleration of the movable element by the drive means when the comparison indicates the actual velocity of the movable element exceeds the maximum desired velocity.

    摘要翻译： 公开了用于控制可移动元件（20或22）在初始起始位置和最终停止位置之间移动的装置。 该装置包括联接到可移动元件的驱动装置（34或36），并响应于马达驱动信号，用于沿起始位置和停止位置之间的预定路径移动可移动元件（20或22）。 该装置产生指示可移动元件的实际运动速度的实际速度信号，指示由可移动元件行进到所需停止位置的剩余距离的位置信号，以及指示最小值的第一和第二指令速度信号 以及保持行驶的这种特定距离的最大期望速度水平。 当位置信号的值表示可移动元件的值大于预定行驶距离时，控制器（26）响应于位置信号，用于将实际速度信号与第一和第二指令速度信号中的每一个进行比较， 电动机驱动信号响应于对驱动装置（34或36）的应用的这种比较，以使得当比较指示可移动的实际速度时（a）驱动装置的可移动元件（20或22）的加速度 元素小于最小期望速度，（b）当比较指示可移动元件的实际速度大于最小期望速度并小于最大期望速度时可移动元件的滑行，以及（c）减速度 当比较指示可移动元件的实际速度超过最大期望速度时，通过驱动装置移动可动元件。

    Verfahren zur geregelten Führung eines Gleichstromantriebes in eine Zielposition und Schaltungsanordnung zur Durchführung des Verfahrens
    78.
    发明公开
    Verfahren zur geregelten Führung eines Gleichstromantriebes in eine Zielposition und Schaltungsanordnung zur Durchführung des Verfahrens 失效
    一种用于直流驱动的控制引导到用于执行该方法的目标位置和电路装置的方法。

    公开(公告)号：EP0014241A2

    公开(公告)日：1980-08-20

    申请号：EP79104706.1

    申请日：1979-11-27

    申请人： OLYMPIA WERKE AG

    发明人： Bettin, Hubertus ,  Bornemann, Rainer

    IPC分类号： G05D3/20 ,  H02P5/16 ,  G05B19/23 ,  G05B7/02

    CPC分类号： G05B19/23 ,  G05B2219/34215 ,  G05B2219/37314 ,  G05B2219/41122 ,  G05B2219/41244 ,  G05B2219/41247 ,  G05B2219/43006 ,  G05B2219/43194

    摘要： Ein Gleichstrommotor (1) ist mit einem Sensor (2) verbunden, der eine 360° -Drehung des Motors in Einzelschritte unterteilt. Bei Bewegung erzeugt der Sensor (2) für jede Teilung ein sinusförmiges Spannungssignal. Daraus wird in einem Differenzierglied (6) durch Addition der differenzierten letzten Halbwelle des Sensor-Spannungssignals vor der Sollstellung zu einem proportionalen Anteil eine Summenspannung gewonnen. In einer Schaltung (11) wird eine Regelspannung mit abklingendem Verlauf bereitgestellt, die von der Steuerung (7) an einen Vergleicher (8) durchgeschaltet und mit der Summenspannung verglichen wird. In Abhängigkeit von den positiven und negativen Abweichungen der Summenspannung von der Regelspannung wird der Motor-Betriebsstrom von einem Steuerschalter (9) in Vorwärts- und Rückwärtsdrehrichtung angelegt.

    摘要翻译： 的传感器（2），其将在单一步骤的电动机的360°旋转的DC马达（1）。 在传感器（2）对每个分割的运动产生的正弦电压信号。 这是通过一个微分器（6）由目标位置到总电压的比例份额之前求和传感器电压信号的区分最后半波获得。 在一个电路（11）提供的控制电压瞬逝当然，导通由所述控制器（7）到比较器（8）和与该总和电压进行比较。 根据控制开关的电机的运行电流的控制电压之和电压的正和负偏差（9）的旋转向前和向后方向上施加。