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    Position feedback device with prediction
    2.
    发明公开
    Position feedback device with prediction 审中-公开
    与预测位置反馈系统

    公开(公告)号：EP1729192A3

    公开(公告)日：2009-06-03

    申请号：EP06011255.4

    申请日：2006-05-31

    申请人： Rockwell Automation Technologies, Inc.

    发明人： Piefer, Richard W. ,  Rehm, Thomas J. ,  Quan, Juntao

    IPC分类号： G05B19/23

    CPC分类号： B41F13/004 ,  B41P2213/734 ,  G05B19/232 ,  G05B2219/37181 ,  G05B2219/37436 ,  G05B2219/45187 ,  G05B2219/50218

    摘要： An apparatus for use with an encoder feedback device includes a comparator (300), a counter (305), and a prediction unit (300). The encoder feedback device is coupled to rotate with a rotating load and operable to generate at least one feedback position signal (205) indicative of movement of the rotating load. The comparator (300) is operable to receive the feedback position signal (205) and generate a first position signal including a plurality of edges based on the feedback position signal (205). The counter (305) is operable to receive the first position signal and count the edges to periodically generate position values (335) at a predetermined update interval. The prediction unit (300) is operable to receive a position data request at a first time and predict a position of the rotating load at the first time as a function of at least a subset of the position values (335) generated prior to the first time and a misalignment between the first time and the predetermined update interval to generate an aligned position signal.

    DEVICE AND METHOD FOR CONTROLLING PREDICTION OF MOTION
    4.
    发明公开
    DEVICE AND METHOD FOR CONTROLLING PREDICTION OF MOTION 审中-公开
    VORRICHTUNG VERFAHREN ZUR STEUERUNG DER VORHERSAGE VON BEWEGUNGEN

    公开(公告)号：EP2708334A1

    公开(公告)日：2014-03-19

    申请号：EP12782445.6

    申请日：2012-04-24

    申请人： IHI Corporation

    发明人： EMOTO Shuhei ,  HAYASHI Toshihiro ,  BANNO Hajime ,  FUJII Masakazu ,  SONEHARA Mitsuharu

    IPC分类号： B25J13/00 ,  B25J13/08

    CPC分类号： B25J13/08 ,  B25J5/007 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/023 ,  G05B2219/32357 ,  G05B2219/37436 ,  G05B2219/40512 ,  G05B2219/41146 ,  G05B2219/42263 ,  Y02P90/26

    摘要： (A) One or both of an object and a robot (2) are measured by measuring units (12a and 12b) to acquire sensor information. (B) The internal state of one or both of the object and the robot (2) is predicted and updated by a state estimation unit (14) on the basis of the sensor information. (C) The internal state is stored by a data storage unit (16). (D) The robot (2) is controlled by a robot control unit (20). At (B), the internal state is updated by the state estimation unit (14) at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit (16).

    摘要翻译： （A）通过测量单元（12a和12b）测量物体和机器人（2）中的一个或两个以获取传感器信息。 （B）基于传感器信息由状态估计单元（14）预测和更新物体和机器人（2）中的一个或两个的内部状态。 （C）内部状态由数据存储单元（16）存储。 （D）机器人（2）由机器人控制单元（20）控制。 在（B）中，在与机器人的控制周期无关的任意定时，状态估计部（14）更新内部状态。 在（D）中，基于存储在数据存储单元（16）中的最新内部状态，通过机器人控制单元在控制周期计算控制机器人所需的预测值。

    Position feedback device with prediction
    5.
    发明公开
    Position feedback device with prediction 审中-公开
    Positionsrückmeldesystemmit Vorhersage

    公开(公告)号：EP1729192A2

    公开(公告)日：2006-12-06

    申请号：EP06011255.4

    申请日：2006-05-31

    申请人： Rockwell Automation Technologies, Inc.

    发明人： Piefer, Richard W. ,  Rehm, Thomas J. ,  Quan, Juntao

    IPC分类号： G05B19/23

    CPC分类号： B41F13/004 ,  B41P2213/734 ,  G05B19/232 ,  G05B2219/37181 ,  G05B2219/37436 ,  G05B2219/45187 ,  G05B2219/50218

    摘要： An apparatus for use with an encoder feedback device includes a comparator (300), a counter (305), and a prediction unit (300). The encoder feedback device is coupled to rotate with a rotating load and operable to generate at least one feedback position signal (205) indicative of movement of the rotating load. The comparator (300) is operable to receive the feedback position signal (205) and generate a first position signal including a plurality of edges based on the feedback position signal (205). The counter (305) is operable to receive the first position signal and count the edges to periodically generate position values (335) at a predetermined update interval. The prediction unit (300) is operable to receive a position data request at a first time and predict a position of the rotating load at the first time as a function of at least a subset of the position values (335) generated prior to the first time and a misalignment between the first time and the predetermined update interval to generate an aligned position signal.

    摘要翻译： 一种与编码器反馈装置一起使用的装置包括比较器（300），计数器（305）和预测单元（300）。 编码器反馈装置被耦合以用旋转负载旋转并且可操作以产生指示旋转负载的运动的至少一个反馈位置信号（205）。 比较器（300）可操作以基于反馈位置信号（205）接收反馈位置信号（205）并产生包括多个边缘的第一位置信号。 计数器（305）可操作以接收第一位置信号并对边缘进行计数以周期性地以预定的更新间隔产生位置值（335）。 预测单元（300）可操作以在第一时间接收位置数据请求，并且根据在第一时间之前产生的位置值（335）的至少一个子集来预测第一时间的旋转负载的位置 时间和第一时间与预定更新间隔之间的未对准，以产生对准的位置信号。