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1.发明公开Position/force controlling apparatus for working machine with multiple of degrees of freedom 失效位置 - / Kraft-SteuerungsgerätfürWerkzeugmaschinen mit mehreren Freiheitsgraden。
公开(公告)号：EP0331265A2
公开(公告)日：1989-09-06
申请号：EP89200495.3
申请日：1989-02-28
IPC分类号： B25J9/18
CPC分类号： B25J9/1633 , G05B19/4163 , G05B2219/37357
摘要： A position/force control apparatus for use with a multi-freedom-degree working machine having at least two degrees of freedom such as a robot, a machine tool or the like. The apparatus is composed of the following components: first setting device for setting a position command and/or a posture command for commanding the position and/or the posture of a working tool on the machine; first detection device for detecting the instant position and/or the instant posture of the working tool; second setting device for setting a force command and/or a moment command for commanding the force and/or the moment to be applied to the working tool; second detection device for detecting the instant force and/or the instant moment acting on the working tool; first computing device for determining, from the position command and/or the posture command set by the first setting device and the instant position and/or the instant posture detected by the first detection device, the position and/or posture offset in terms of the coordinate values of a spontaneous coordinate system; second computing device for determining, from the force command and/or the moment command set by the second setting device and the instant force and/or the instant moment detected by the second detection device, force and/or moment offset in terms of the coordinate values of the. spontaneous coordinate system; third computing device for executing position/force computation for the control of the position of and the force on the working tool by making use of the position and/or posture offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the first computing device and the force and/or moment offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the second computing device, thereby determining the amount of control to be effected on the working machine; and fourth computing device for converting the control amount in terms of the coordinate values of the spontaneous coordinate system determined by the third computing device into the operation command of the driving system for driving the working machine.
摘要翻译： 一种用于具有至少两个自由度的多自由度工作机器的位置/力控制装置，例如机器人，机床等。 该装置由以下部件构成：用于设定位置指令的第一设定装置和/或用于指示作业工具的位置和/或姿势的姿势指令; 用于检测作业工具的即时位置和/或即时姿势的第一检测装置; 用于设定用于指示作用工具的力和/或力矩的力指令和/或力矩指令的第二设定装置; 用于检测瞬时力的第二检测装置和/或作用在作业工具上的瞬时力矩; 第一计算装置，根据由第一设定装置设定的位置指令和/或姿势指令以及由第一检测装置检测到的即时位置和/或即时姿势，根据 自发坐标系的坐标值; 第二计算装置，用于根据由所述第二设定装置设定的力指令和/或力矩指令以及由所述第二检测装置检测到的瞬时力和/或瞬时力矩来确定所述坐标的力和/或力矩偏移 自发坐标系的值; 第三计算装置，用于通过利用通过转换获得的自发坐标系的坐标值的位置和/或姿态偏移来执行用于控制作业工具的位置和力的力的位置/力计算 通过由第二计算装置执行的转换而获得的自发坐标系的坐标值，通过第一计算装置的力和/或力矩偏移，从而确定在作业机器上进行的控制量; 以及第四计算装置，用于将由第三计算装置确定的自发坐标系的坐标值的控制量转换为用于驱动作业机的驱动系统的操作命令。
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公开(公告)号：EP0364057A3
公开(公告)日：1991-01-02
申请号：EP89202594.1
申请日：1989-10-13
发明人： Yamada, Kazuyoshi 2625, Oaza Shimoinayoshi , Kashiwagi, Kunio , Kurenuma, Tooru 1828-9-104, Oaza Niihari
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/37357 , G05B2219/45151 , G05B2219/49362
摘要： A profiling control system, which uses a multi-degree-of-freedom working machine having at least two degrees of freedom, comprising at least one force control loop including means for detecting force applied to a working tool from a work surface, means for taking an error between the detected force and a command f ro of urging force of the working tool, which is set beforehand, means for computing a velocity command u z of the working tool on the basis the error, and means for moving the multi-degree-of-freedom working machine on the basis of the velocity command u z , means for commanding at least one velocity command u x of the working tool, means for moving the multi-degree-of-freedom working machine on the basis of the velocity command u x . There are provided first control means for providing a moving velocity v zof in an urging direction, of the working tool, which occurs due to a gradient tan α of the work surface with respect to a feed direction when the working tool is fed with the velocity command u x while the working tool is urged against the work surface with the force command f ro , and second control means for using the moving velocity v zof in the urging direction to correct a controlled variable f ro or u z of the force control loop, thereby canceling force f of due to the velocity v zof .
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公开(公告)号：EP0364057B1
公开(公告)日：1995-05-17
申请号：EP89202594.1
申请日：1989-10-13
发明人： Yamada, Kazuyoshi 2625, Oaza Shimoinayoshi , Kashiwagi, Kunio , Kurenuma, Tooru 1828-9-104, Oaza Niihari
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/37357 , G05B2219/45151 , G05B2219/49362
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4.发明授权
公开(公告)号：EP0331265B1
公开(公告)日：1995-08-23
申请号：EP89200495.3
申请日：1989-02-28
IPC分类号： B25J9/18
CPC分类号： B25J9/1633 , G05B19/4163 , G05B2219/37357
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5.发明公开Profiling control system for given curved surface 失效Profilsteuersystemfüreine gegebenegekrümmteFläche。
公开(公告)号：EP0364057A2
公开(公告)日：1990-04-18
申请号：EP89202594.1
申请日：1989-10-13
发明人： Yamada, Kazuyoshi 2625, Oaza Shimoinayoshi , Kashiwagi, Kunio , Kurenuma, Tooru 1828-9-104, Oaza Niihari
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/37357 , G05B2219/45151 , G05B2219/49362
摘要： A profiling control system, which uses a multi-degree-of-freedom working machine having at least two degrees of freedom, comprising at least one force control loop including means for detecting force applied to a working tool from a work surface, means for taking an error between the detected force and a command f ro of urging force of the working tool, which is set beforehand, means for computing a velocity command u z of the working tool on the basis the error, and means for moving the multi-degree-of-freedom working machine on the basis of the velocity command u z , means for commanding at least one velocity command u x of the working tool, means for moving the multi-degree-of-freedom working machine on the basis of the velocity command u x . There are provided first control means for providing a moving velocity v zof in an urging direction, of the working tool, which occurs due to a gradient tan α of the work surface with respect to a feed direction when the working tool is fed with the velocity command u x while the working tool is urged against the work surface with the force command f ro , and second control means for using the moving velocity v zof in the urging direction to correct a controlled variable f ro or u z of the force control loop, thereby canceling force f of due to the velocity v zof .
摘要翻译： 一种成型控制系统，其使用具有至少两个自由度的多自由度工作机器，其包括至少一个力控制回路，所述至少一个力控制回路包括用于检测从工作表面施加到工作工具的力的装置， 检测到的力与预先设定的作业工具的推动力的指令之间的误差意味着用于基于误差计算加工工具的速度指令uz，以及用于使多级 - 基于速度指令uz的自由工作机器，用于命令至少一个加速工具的速度指令ux的装置，用于基于速度指令ux移动多自由度工作机的装置。 提供了第一控制装置，用于提供加工工具的推动方向上的移动速度vzof，这是由于当工作工具被送入速度指令时工作表面相对于进给方向的梯度tanα发生的 当施加工具通过力指令被推向工作表面时，以及第二控制装置，用于在推动方向上使用移动速度vzof来校正力控制回路的受控变量或uz，从而抵消力 到速度vzof。
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6.发明公开Position/force controlling apparatus for working machine with multiple of degrees of freedom 失效具有多种自由度的工作机械的位置/力控制装置
公开(公告)号：EP0331265A3
公开(公告)日：1990-01-31
申请号：EP89200495.3
申请日：1989-02-28
IPC分类号： B25J9/18
CPC分类号： B25J9/1633 , G05B19/4163 , G05B2219/37357
摘要： A position/force control apparatus for use with a multi-freedom-degree working machine having at least two degrees of freedom such as a robot, a machine tool or the like. The apparatus is composed of the following components: first setting device for setting a position command and/or a posture command for commanding the position and/or the posture of a working tool on the machine; first detection device for detecting the instant position and/or the instant posture of the working tool; second setting device for setting a force command and/or a moment command for commanding the force and/or the moment to be applied to the working tool; second detection device for detecting the instant force and/or the instant moment acting on the working tool; first computing device for determining, from the position command and/or the posture command set by the first setting device and the instant position and/or the instant posture detected by the first detection device, the position and/or posture offset in terms of the coordinate values of a spontaneous coordinate system; second computing device for determining, from the force command and/or the moment command set by the second setting device and the instant force and/or the instant moment detected by the second detection device, force and/or moment offset in terms of the coordinate values of the. spontaneous coordinate system; third computing device for executing position/force computation for the control of the position of and the force on the working tool by making use of the position and/or posture offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the first computing device and the force and/or moment offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the second computing device, thereby determining the amount of control to be effected on the working machine; and fourth computing device for converting the control amount in terms of the coordinate values of the spontaneous coordinate system determined by the third computing device into the operation command of the driving system for driving the working machine.
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