公开(公告)号：EP3351353A1

公开(公告)日：2018-07-25

申请号：EP18150138.8

申请日：2018-01-03

申请人： Canon Kabushiki Kaisha

发明人： TSUZAKI, Ryoichi

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  G05B2219/39209 ,  G05B2219/39346 ,  G05B2219/42123

摘要： A robot control apparatus (300) includes an instruction portion (501), and a control portion (510). The instruction portion (501) is configured to transmit a switching condition to the control portion (510) configured to perform feedback control in accordance with the robot program. In a state where a status of the robot (200) matches the switching condition, the control portion (510) transmits information indicating that the status of the robot (200) has matched the switching condition to the instruction portion (501), the instruction portion (501) transmits an operation command corresponding to the information to the control portion (510), and the control portion (510) switches the operation of the robot (200) in accordance with the operation command.

公开(公告)号：EP2741919B1

公开(公告)日：2017-02-01

申请号：EP12758588.3

申请日：2012-08-10

申请人： Markem-Imaje Industries Limited.

发明人： STARKEY, Simon ,  LAKIN, Philip ,  ROBERTS, Paul, Christopher ,  GLOAG, Jonathan, Michael

IPC分类号： B41J2/325 ,  B41J33/14 ,  G11B15/43 ,  H02P6/08 ,  H02P6/16 ,  B41J33/16 ,  B41J33/34 ,  G05B11/36 ,  G05B11/42 ,  G05B19/19 ,  G11B15/32

CPC分类号： B41J33/16 ,  B41J2/325 ,  B41J33/14 ,  B41J33/34 ,  G05B11/36 ,  G05B11/42 ,  G05B19/19 ,  G05B2219/42062 ,  G05B2219/42063 ,  G05B2219/42123 ,  G11B15/32 ,  G11B15/43 ,  H01Q1/125 ,  H02P6/16

摘要： A motor control system includes a motor having an associated rotary position encoder, and a controller for controlling the operation of the motor, wherein the motor is switchable between a position control mode and a torque control mode.

摘要翻译： 电机控制系统包括具有相关联的旋转位置编码器的电机以及用于控制电机的操作的控制器，其中电机可在位置控制模式和转矩控制模式之间切换。

公开(公告)号：EP1655084A2

公开(公告)日：2006-05-10

申请号：EP05023983.9

申请日：2005-11-03

申请人： FANUC LTD

发明人： Iwashita, Yasusuke ,  Okita, Tadashi ,  Kawamura, Hiroyuki ,  Ikai, Satoshi FANUC Dai3virakaramatsu

IPC分类号： B21D24/02

CPC分类号： G05B19/19 ,  B21D24/02 ,  G05B2219/42123 ,  G05B2219/42275

摘要： A control apparatus (10) for controlling a die cushion mechanism (12) including a servo-motor (14) as a drive source and producing a force adapted to be applied outside. The control apparatus includes a force commanding section (18) for commanding a force to be produced by the die cushion mechanism; a force detecting section (20) for detecting a force produced by the die cushion mechanism; a force controlling section (22) for executing a force control on the servo-motor, based on a force command value (C1) commanded by the force commanding section and a force detected value (D1) detected by the force detecting section; and an abnormality preventing section (24) for preventing, in association with a control state of the servo-motor, the die cushion mechanism from producing an abnormal force (F).

摘要翻译： 一种用于控制模具缓冲机构（12）的控制装置（10），其包括作为驱动源的伺服电动机（14），并产生适于施加到外部的力。 控制装置包括用于指示由模具缓冲机构产生的力的力指令部分（18）; 用于检测由所述模具缓冲机构产生的力的力检测部分（20）; 力控制部（22），其基于由所述力指令部指令的力指令值（C1）和由所述力检测部检测出的力检测值（D1），对所述伺服马达执行力控制; 以及用于防止与伺服电动机的控制状态相关联的模具缓冲机构产生异常力（F）的异常防止部（24）。

公开(公告)号：EP1418026A1

公开(公告)日：2004-05-12

申请号：EP03029866.5

申请日：1996-09-10

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Inoue, Yasuyuki, c/o K.K.Yaskawa Denki ,  Nagata, Hideo, c/o K.K.Yaskawa Denki

IPC分类号： B25J13/00 ,  B25J9/16 ,  G05B19/23

CPC分类号： B25J9/1633 ,  G05B2219/42123

摘要： The present invention relates to a control apparatus and flexible control apparatus of a robot which performs operations while switching between a position control and a flexible control. More specifically, the invention concerns a flexible control apparatus of a robot which comprises a control system of a servo motor of the robot having a position control loop and a speed control loop, comprising means for comparing a difference between a target value of a position and a present value of the robot with a setting value in a working coordinate system.

摘要翻译： 本发明涉及一种在位置控制和灵活控制之间进行切换时执行操作的机器人的控制装置和柔性控制装置。 更具体地，本发明涉及一种机器人的灵活的控制装置，其包括具有位置控制回路和速度控制回路的机器人的伺服电动机的控制系统，该控制系统包括用于将位置的目标值和 在工作坐标系中具有设定值的机器人的当前值。

公开(公告)号：EP0540753A4

公开(公告)日：1994-08-24

申请号：EP92910209

申请日：1992-05-14

申请人： HITACHI CONSTRUCTION MACHINERY

发明人： SARUGAKU SHINICHI ,  KURENUMA TORU ,  ANDOH TAKESHI ,  OTOMO MASAMI ,  KAWASAKI KYOICHI

IPC分类号： B25J9/22 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J19/06 ,  G05B19/42 ,  G05B19/425

CPC分类号： G05B19/425 ,  B25J9/1674 ,  G05B2219/36399 ,  G05B2219/36473 ,  G05B2219/42123

摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and, when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.

摘要翻译： 一种控制工业机器人的系统，其操作简单，能够安全地直接教学。 该系统设置有用于在直接教导期间监视施加到手的前端的外力的大小的装置（131和132），使得当外力达到预定值时可以强制地限制机器人的运动 在上面。 此外，当系统被操作以设置在直接教学模式时，自动执行校正力传感器的偏移的过程（136）。 通过监视由力传感器检测到的力，判断是否将机器人以异常速度操作的外力施加到机器人，并且当外力变得高于参考值时， 设定通过外力（位置控制模式）禁止机器人操作的模式，或者切断供给到伺服电动机的电流，以防止机器人由于错误的控制而进入错误操作。

公开(公告)号：EP0114892A4

公开(公告)日：1985-11-25

申请号：EP83902838

申请日：1983-08-05

申请人： MTS SYSTEM CORP

发明人： DOLLERSCHELL JOHN O

IPC分类号： B30B15/16 ,  G05B7/02 ,  G05B11/18

CPC分类号： B30B15/166 ,  G05B7/02 ,  G05B2219/41309 ,  G05B2219/42123 ,  G05B2219/42126

摘要： A "mode switch" (45) is used for smoothly switching a servovalve controlled device such as an SMC press (10), in particular, from control under one parameter to control by another. The mode switch (45) provides a very smooth transfer of control from displacement control (47) between two relatively movable parts (20, 23) to force control (46) to provide for controlling the force exerted by actuators acting between the two parts (20, 23). The mode switch (45) electronically tracks the signals so that when the switching (64, 65) is made the signals are precisely equal to prevent abrupt changes in the control signals. This smooth transfer is achieved even under active control, that is when both control signals are changing in value.

公开(公告)号：EP1433985A3

公开(公告)日：2011-02-02

申请号：EP03029423.5

申请日：2003-12-19

申请人： HONDA MOTOR CO., LTD.

发明人： Yasui, Yuji ,  Shimojo, Kanako ,  Shimabukuro, Eijiro

IPC分类号： F16H61/04 ,  G05B13/02 ,  F16H61/28

CPC分类号： G05B13/0205 ,  F16H61/0403 ,  F16H61/2807 ,  F16H61/32 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356 ,  Y10T477/60

摘要： A low cost control apparatus of a contact mechanism resolving a disadvantage caused when a contact body is moved to make contact with a contacted body by an actuator. A synchronizing mechanism, which a coupling sleeve rotatably and integrally provided with an input shaft is pushed against a synchronizer ring disposed between the coupling sleeve and a synchronized gear, thereby synchronizing rotational speeds of both the components to engage them, is modeled as a collision between an inertia system object and an elastic system object. A computation coefficient (VPOLE, f in Fig. 9) of a switching function for sliding mode control having a deviation between an actual position of the coupling sleeve (Psc, d in Fig. 9) and a target position (Psc_cmd, e in Fig. 9) as a state variable is changed depending on the actual position (Psc), and thereby changing a control ability of the model against a disturbance.

公开(公告)号：EP1707311B1

公开(公告)日：2010-11-24

申请号：EP06002349.6

申请日：2006-02-06

申请人： Homag Holzbearbeitungssysteme AG

发明人： Gauss, Achim ,  Rathgeber, Peter

IPC分类号： G05B19/19 ,  B23Q15/013

CPC分类号： G05B19/19 ,  B23Q15/013 ,  G05B2219/42094 ,  G05B2219/42123

公开(公告)号：EP1742127A3

公开(公告)日：2007-01-24

申请号：EP06012673.7

申请日：2006-06-20

申请人： FANUC LTD

发明人： Iwashita, Yasusuke ,  Okita, Tadashi ,  Kwamura, Hiroyuki ,  Ikai, Satoshi FANUC Dai3virakaramatsu,

IPC分类号： G05B19/19 ,  B21D24/10

CPC分类号： B21D24/10 ,  G05B19/19 ,  G05B2219/37411 ,  G05B2219/37622 ,  G05B2219/37624 ,  G05B2219/42123 ,  G05B2219/45131

摘要： A device (110) for judging the collision of a slide (24) with a die cushion in a die cushion mechanism (20) which produces a force against the slide in a press machine using a servo motor (18) as a drive source, comprising force detection means (21) for detecting a force produced between the die cushion and the slide; and comparator means (95) for comparing a force detection value (Fd) detected by the force detection means with a predetermined threshold value (L1); wherein, when the force detection value becomes greater than the threshold value, it is so judged that the slide has come into collision with the die cushion. Thus, the collision is judged within a short period of time and reliably. The collision may be judged by comparing differentiated values (Fd', Fd") of the force detection value, slide position detection value (Y1d) or slide position instruction value (Y1c) or other related threshold values. There can be further used a system for judging a collision which executes a plurality of methods for judging the collision.

摘要翻译： 一种装置（110），用于判断滑块（24）与模具缓冲机构（20）中的模具缓冲器的碰撞，所述模具缓冲机构（20）在使用伺服电动机（18）作为驱动源的冲压机中对滑动件产生力， 包括力检测装置（21），用于检测在模具垫和滑动件之间产生的力; 和比较装置（95），用于将力检测装置检测到的力检测值（Fd）与预定的阈值（L1）进行比较; 其中，当力检测值变得大于阈值时，判断滑块已经与模具缓冲器发生碰撞。 因此，在短时间内可靠地判断碰撞。 可以通过比较力检测值，滑动位置检测值（Y1d）或滑动位置指令值（Y1c）或其他相关阈值的微分值（Fd'，Fd“）来判断碰撞，还可以使用系统 用于判断执行多种用于判断碰撞的方法的碰撞。

公开(公告)号：EP0881044B1

公开(公告)日：2006-06-07

申请号：EP96929577.3

申请日：1996-09-10

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： INOUE, Yasuyuki Kabushiki Kaisha Yaskawa Denki ,  NAGATA, Hideo Kabushiki Kaisha Yaskawa Denki

IPC分类号： B25J13/00 ,  B25J9/16 ,  G05B19/23

CPC分类号： B25J9/1633 ,  G05B2219/42123

摘要： A flexibility controller for robots, adapted to carry out a position controlling operation and a flexibility control operation in a switching manner. When a position controlling operation is switched to a flexibility controlling operation, an integrated value of a speed control system is stored in a memory, and an integration operation is interrupted, the integrated value being added to a torque instruction, or a gravity compensation value calculated on the basis of the condition of a robot arm being added to the torque instruction. When a flexibility controlling operation is switched back to a position controlling operation, the current position is set as an instruction position. The flexibility controller comprises a means (102) for controlling the torque of a servomotor, a means (106) for measuring an angle of a joint, a means (108) for computing a minute displacement between coordinates, a means (102) receiving the corresponding relation between a limit value of the force or a torque set in a working coordinate system and the minute displacement mentioned above, and converting this relation into a limit value of the torque of the joint, and torque limiting means (104, 105, 106).

摘要翻译： 一种机器人柔性控制器，适用于以切换方式执行位置控制操作和柔性控制操作。 当位置控制操作被切换到柔性控制操作时，速度控制系统的积分值被存储在存储器中，积分操作被中断，积分值被加到转矩指令或计算的重力补偿值上 基于将机器人手臂的状态加到扭矩指令上。 当柔性控制操作切换回位置控制操作时，将当前位置设置为指示位置。 柔性控制器包括用于控制伺服电动机的转矩的装置（102），用于测量接头角度的装置（106），用于计算坐标之间的微小位移的装置（108），用于接收 对应于在工作坐标系中设定的力或转矩的极限值与上述的微小位移之间的对应关系，并将该关系转换为关节的转矩的极限值;以及转矩限制装置（104,105,106 ）。