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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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2.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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3.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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