-
1.发明公开Robot control system having adaptive feedforward torque control for improved accuracy 失效Robotersteuerungssystem mit adaptiver Drehmomentsteuerung mit positien Reaktion zur Genauigkeitsverbesserung。
公开(公告)号：EP0334613A2
公开(公告)日：1989-09-27
申请号：EP89302809.2
申请日：1989-03-21
发明人： Casler, Richard James, Jr. , Sha, Chi , Onaga, Eimei Ming , Penkar, Rajan Chandrakant , Lancraft, Roy Edwin
CPC分类号： B25J9/1633 , G05B19/4163 , G05B2219/36417 , G05B2219/37357 , G05B2219/41434
摘要： A digital control provides adaptive feedforward torque control for a robot [Figs. 1-3] having a plurality of arm joints. An electric motor (20) drives each of the robot arm joints and a power amplifier [Fig. 1 (22)] supplies drive current to each motor under controlled operation. Each joint motor has feedback control loop means including position (PFB) and velocity control loops (VFB) driving a torque control loop (8) in accordance with position commands (PCOM) to generate motor commands for controlling the associated power amplifier. The motion of said joint motor is sent to generate position and velocity feedback signals respectively for combination with the position and velocity commands to generate an error signal (TQCOM) as a torque command for each of the torque control loops from the corresponding position and velocity control loops. Load force is sensed (19) at the endmost robot joint. A feedback signal [Fig. 1 (21)] representative of the joint motor drive current is combined [Fig. 2 (168)] with the torque command to generate a torque error signal in each torque control loop.
摘要翻译： 数字控制为机器人提供自适应前馈转矩控制。 1-3]具有多个臂关节。 电动机（20）驱动机器人臂关节和功率放大器。 1（22）]在受控操作下向每个电机提供驱动电流。 每个联合马达具有反馈控制回路装置，其包括根据位置指令（PCOM）驱动转矩控制回路（8）的位置（PFB）和速度控制回路（VFB），以产生用于控制相关功率放大器的马达指令。 发送所述联合马达的运动以分别产生位置和速度反馈信号以与位置和速度命令组合，以从相应的位置和速度控制产生作为每个扭矩控制回路的扭矩指令的误差信号（TQCOM） 循环。 在最终的机器人关节处感测到负载力（19）。 反馈信号 1（21）]表示联合电动机驱动电流的组合。 2（168）]，在每个转矩控制回路中产生转矩误差信号。
-
2.发明公开Robot control system having adaptive feedforward torque control for improved accuracy 失效机器人控制系统具有适应性前向扭矩控制，提高精度
公开(公告)号：EP0334613A3
公开(公告)日：1990-07-25
申请号：EP89302809.2
申请日：1989-03-21
发明人： Casler, Richard James, Jr. , Sha, Chi , Onaga, Eimei Ming , Penkar, Rajan Chandrakant , Lancraft, Roy Edwin
CPC分类号： B25J9/1633 , G05B19/4163 , G05B2219/36417 , G05B2219/37357 , G05B2219/41434
摘要： A digital control provides adaptive feedforward torque control for a robot [Figs. 1-3] having a plurality of arm joints. An electric motor (20) drives each of the robot arm joints and a power amplifier [Fig. 1 (22)] supplies drive current to each motor under controlled operation. Each joint motor has feedback control loop means including position (PFB) and velocity control loops (VFB) driving a torque control loop (8) in accordance with position commands (PCOM) to generate motor commands for controlling the associated power amplifier. The motion of said joint motor is sent to generate position and velocity feedback signals respectively for combination with the position and velocity commands to generate an error signal (TQCOM) as a torque command for each of the torque control loops from the corresponding position and velocity control loops. Load force is sensed (19) at the endmost robot joint. A feedback signal [Fig. 1 (21)] representative of the joint motor drive current is combined [Fig. 2 (168)] with the torque command to generate a torque error signal in each torque control loop.
-
搜索结果
2 条记录 (耗时 0.009 秒)
