公开(公告)号：EP3203332A4

公开(公告)日：2017-11-01

申请号：EP14903489

申请日：2014-09-29

申请人： FUJI MACHINE MFG

发明人： KUMAZAWA HIDEYUKI ,  MIZUNO MITSUHIRO

IPC分类号： G05B19/05

CPC分类号： G05B19/406 ,  G05B19/05 ,  G05B2219/41025 ,  G05B2219/41116 ,  G05B2219/41423

摘要： Automatic control device 1 controls servo motor 50. Automatic control device 1 is provided with control section 10 that calculates operation amount 102 of servo motor 50 based on the difference between current value 105 and target value 101 of a control amount of servo motor 50. Automatic control device 1 is also provided with first filter 20 that outputs first output value 103 after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount 102 calculated by control section 10. Automatic control device 1 is also provided with second filter 30, arranged in parallel with first filter 20, that outputs second output value 104 after using a third filter coefficient to perform filtering of operation amount 102 calculated by control section 10. Automatic control device 1 is also provided with switching section 40 that switches between first output value 103 of first filter 20 and second output value 104 of second filter 40 and sends one of the output values to servo motor 50.

公开(公告)号：EP0426264A3

公开(公告)日：1991-08-21

申请号：EP90203256.4

申请日：1987-01-27

申请人： ROBOTICS RESEARCH CORPORATION

发明人： Thompson, Jack M. Jr. ,  Eismann, Paul H.

IPC分类号： B25J9/18

CPC分类号： B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  B25J17/02 ,  B25J17/0241 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

公开(公告)号：EP0233712A3

公开(公告)日：1988-05-11

申请号：EP87300653

申请日：1987-01-27

申请人： ROBOTICS RESEARCH CORPORATION

发明人： Karlen, James P. ,  Thompson, Jack M., Jr. ,  Kowalski, Keith A. ,  Damico, David A. ,  Eismann, Paul H.

IPC分类号： B25J17/00 ,  B25J18/00

CPC分类号： B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  B25J17/02 ,  B25J17/0241 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

公开(公告)号：EP3203332A1

公开(公告)日：2017-08-09

申请号：EP14903489.4

申请日：2014-09-29

申请人： Fuji Machine Mfg. Co., Ltd.

发明人： KUMAZAWA hideyuki ,  MIZUNO Mitsuhiro

IPC分类号： G05B19/05

CPC分类号： G05B19/406 ,  G05B19/05 ,  G05B2219/41025 ,  G05B2219/41116 ,  G05B2219/41423

摘要： Automatic control device 1 controls servo motor 50. Automatic control device 1 is provided with control section 10 that calculates operation amount 102 of servo motor 50 based on the difference between current value 105 and target value 101 of a control amount of servo motor 50. Automatic control device 1 is also provided with first filter 20 that outputs first output value 103 after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount 102 calculated by control section 10. Automatic control device 1 is also provided with second filter 30, arranged in parallel with first filter 20, that outputs second output value 104 after using a third filter coefficient to perform filtering of operation amount 102 calculated by control section 10. Automatic control device 1 is also provided with switching section 40 that switches between first output value 103 of first filter 20 and second output value 104 of second filter 40 and sends one of the output values to servo motor 50.

摘要翻译： 自动控制装置1控制伺服电动机50.自动控制装置1具备控制部10，该控制部10根据伺服电动机50的控制量的电流值105与目标值101之差来计算伺服电动机50的动作量102。 控制装置1还具有第一过滤器20，其在使用第一过滤器系数或第二过滤器系数之后输出第一输出值103，以对控制部10计算出的操作量102进行过滤。自动控制装置1还设置有第二过滤器 30，与第一滤波器20并联配置，在使用第三滤波器系数之后输出第二输出值104，以对控制部10计算的操作量102进行滤波。自动控制装置1还设置有切换部40， 第一滤波器20的输出值103和第二滤波器40的第二输出值104并发送其中一个 输出值给伺服电机50。

公开(公告)号：EP0426264A2

公开(公告)日：1991-05-08

申请号：EP90203256.4

申请日：1987-01-27

申请人： ROBOTICS RESEARCH CORPORATION

发明人： Thompson, Jack M. Jr. ,  Eismann, Paul H.

IPC分类号： B25J9/18

CPC分类号： B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  B25J17/02 ,  B25J17/0241 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

摘要翻译： 数字控制的工业机器人包括一组单元化和集成的联合驱动模块（2,4,6,8,10,12,14），其可以串联组装以形成操纵臂。 接头有两种基本类型，俯仰接头（4,8,12）和滚动接头（2,6,10,14），后者提供围绕机械臂的纵向轴线的旋转，并且俯仰接头提供关于轴的旋转 基本上垂直于辊接头轴线并偏离辊接头轴线。 伺服控制通过感测从动构件上的动力导出反馈，并相应地补偿驱动信号。 更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。

公开(公告)号：EP0233712A2

公开(公告)日：1987-08-26

申请号：EP87300653.0

申请日：1987-01-27

申请人： ROBOTICS RESEARCH CORPORATION

发明人： Karlen, James P. ,  Thompson, Jack M., Jr. ,  Kowalski, Keith A. ,  Damico, David A. ,  Eismann, Paul H.

IPC分类号： B25J17/00 ,  B25J18/00

CPC分类号： B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  B25J17/02 ,  B25J17/0241 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.