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16 条记录 (耗时 0.015 秒)

    DISPLAY DEVICE, DISPLAY CONTROL METHOD, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM
    2.
    发明公开
    DISPLAY DEVICE, DISPLAY CONTROL METHOD, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM 有权
    显示设备，显示控制方法程序和记录介质的计算机可读

    公开(公告)号：EP2549347A4

    公开(公告)日：2014-03-19

    申请号：EP11755966

    申请日：2011-01-27

    申请人： OMRON TATEISI ELECTRONICS CO

    发明人： MORIYA TOSHIHIRO

    IPC分类号： G05B19/4069

    CPC分类号： G05B19/4069 ,  G05B2219/35353 ,  G05B2219/42307

    摘要： To provide a display device displaying an error between an instructed command position of a specific portion of a control target and a response position of the specific portion in a manner easily understandable to a user. The display device acquires a response position of a specific portion based on a command value, and calculates a difference in position of the command position and the response position. The display device determines whether or not the difference is greater than or equal to a threshold value. The display device displays on a screen a spatial trajectory based on the command position or a spatial trajectory based on the response position, and a mark indicating a portion of the trajectory in which the difference is determined to be greater than or equal to the threshold value. The display device also displays each spatial trajectory on a screen (11) in a mode where a portion of the spatial trajectory of the command position corresponding to the selected mark (FB 9) and a portion of the spatial trajectory of the response position corresponding to the relevant portion of the spatial trajectory of the command position are enlarged at a same magnification, the mode being such that each enlarged portion of spatial trajectory overlaps each other.

    Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators
    3.
    发明公开
    Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators 审中-公开
    对于操纵器的基于模型的控制方法和装置

    公开(公告)号：EP2072194A3

    公开(公告)日：2011-02-02

    申请号：EP08021107.1

    申请日：2008-12-04

    申请人： KUKA Roboter GmbH

    发明人： Schreiber, Günter, Dr.

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1605 ,  B25J9/163 ,  G05B2219/39055 ,  G05B2219/40226 ,  G05B2219/42307

    摘要： Nach einem erfindungsgemäßen Verfahren zur modellbasierten Regelung eines Manipulators, insbesondere eines Roboters wird eine Soll-Kraft eines Aktuators des Manipulators auf Basis eines Modells des Manipulators bestimmt und der Manipulator mit dieser Soll-Kraft durch den Aktuator beaufschlagt. Dabei wird eine vom Manipulator ausgeübte virtuelle Kraft auf Basis des Modells des Manipulators und eine vom Manipulator ausgeübte reale Kraft sowie die Differenz zwischen ausgeübter virtueller und realer Kraft bestimmt und diese mit einem Maximalgrenzwert verglichen. Nur falls der Vergleich ergibt, dass die Differenz kleiner als der Maximalgrenzwert ist, wird der Manipulator mit der auf Basis des Modells des Manipulators bestimmten Soll-Kraft beaufschlagt.

    DISPLAY DEVICE, DISPLAY CONTROL METHOD, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM
    4.
    发明授权
    DISPLAY DEVICE, DISPLAY CONTROL METHOD, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM 有权
    显示设备，显示控制方法，程序和计算机可读记录介质

    公开(公告)号：EP2549347B1

    公开(公告)日：2018-05-09

    申请号：EP11755966.6

    申请日：2011-01-27

    申请人： Omron Corporation

    发明人： MORIYA, Toshihiro

    IPC分类号： G05B19/4069

    CPC分类号： G05B19/4069 ,  G05B2219/35353 ,  G05B2219/42307

    摘要： To provide a display device displaying an error between an instructed command position of a specific portion of a control target and a response position of the specific portion in a manner easily understandable to a user. The display device acquires a response position of a specific portion based on a command value, and calculates a difference in position of the command position and the response position. The display device determines whether or not the difference is greater than or equal to a threshold value. The display device displays on a screen a spatial trajectory based on the command position or a spatial trajectory based on the response position, and a mark indicating a portion of the trajectory in which the difference is determined to be greater than or equal to the threshold value. The display device also displays each spatial trajectory on a screen (11) in a mode where a portion of the spatial trajectory of the command position corresponding to the selected mark (FB 9) and a portion of the spatial trajectory of the response position corresponding to the relevant portion of the spatial trajectory of the command position are enlarged at a same magnification, the mode being such that each enlarged portion of spatial trajectory overlaps each other.

    ANOMALY DETECTING METHOD IN A SERVO SYSTEM
    6.
    发明公开
    ANOMALY DETECTING METHOD IN A SERVO SYSTEM 失效
    NECWEIS VON ANOMALIEN IN EINEM SERVOLENKSYSTEM。

    公开(公告)号：EP0404962A1

    公开(公告)日：1991-01-02

    申请号：EP90900347.7

    申请日：1989-12-25

    申请人： FANUC LTD

    发明人： MATSUBARA, S. Room 8-203 Fanuc Manshonharimomi

    IPC分类号： G05B19/405

    CPC分类号： G05B19/4062 ,  G05B2219/33286 ,  G05B2219/42194 ,  G05B2219/42268 ,  G05B2219/42307

    摘要： An anomaly detecting method in a servo system that is capable of quickly detecting the occurrence of an anomaly even in a low revolution range is disclosed. A simulator (14) finds a position feedback (PAS) by integrating a speed instruction (Vcs) which is equal to the product of a position loop gain (PG) and an estimated position deflection (Ers) that is obtained by subtracting the position feedback (PAS) from a movement instruction (Mc) while the servo control for the servo motor is executed by the digital servo control units (11 to 13) according to a torque instruction (Tc) calculated based on the speed feedback (VA) and a speed instruction (Vc) that corresponds to a practical position deviation (Er). An extraordinary error detecting unit (15) compares a predetermined value (As) with the error (Er - Ers) between the practical position deviation and an estimated position deviation. In case any anomaly has occurred, the practical position deviation increases but there is no substantial change in the estimated position deviation generated by the simulator that approximately carries out normal servo control, whereby a difference between them reaches a predetermined value that indicates the occurrence of an anomaly and alarm is set off.

    摘要翻译： 公开了即使在低转速范围内能够快速检测出异常的伺服系统中的异常检测方法。 模拟器（14）通过对与位置环路增益（PG）的乘积相乘的速度指令（Vcs）和通过减去位置反馈获得的估计位置偏差（Ers）进行积分来找到位置反馈（PAS） 根据基于速度反馈（VA）计算的转矩指令（Tc）和数字伺服控制单元（11〜13）执行用于伺服电动机的伺服控制的运动指令（Mc）的运算指令（PAS），以及 对应于实际位置偏差（Er）的速度指令（Vc）。 异常误差检测单元（15）将预定值（As）与实际位置偏差与估计位置偏差之间的误差（Er-Ers）进行比较。 在发生异常的情况下，实际位置偏差增加，但由模拟器产生的大致执行正常伺服控制的估计位置偏差没有实质变化，由此它们之间的差值达到预定值， 异常和报警被关闭。

    PROCEDE DE DETECTION PREVENTIVE D'UNE PANNE D'UN APPAREIL, PROGRAMME D'ORDINATEUR, INSTALLATION ET MODULE DE DÉTECTION PRÉVENTIVE D'UNE PANNE D'UN APPAREIL
    9.
    发明公开
    PROCEDE DE DETECTION PREVENTIVE D'UNE PANNE D'UN APPAREIL, PROGRAMME D'ORDINATEUR, INSTALLATION ET MODULE DE DÉTECTION PRÉVENTIVE D'UNE PANNE D'UN APPAREIL 审中-公开
    程序上的错误在器件中和计算机程序SYSTEM FOR错误在该装置中预防性检测，预防检测和模块

    公开(公告)号：EP2769303A1

    公开(公告)日：2014-08-27

    申请号：EP12775476.0

    申请日：2012-10-16

    申请人： Alstom Technology Ltd

    发明人： AMOUSSOUGA, Eric ,  THILLOT, Yves

    IPC分类号： G06F11/00 ,  G05B23/02

    CPC分类号： G01R31/027 ,  G01R31/02 ,  G05B23/024 ,  G05B2219/42307 ,  G06F11/008

    摘要： A method for the preventive detection of failure in at least one apparatus to be monitored in a group comprising at least two apparatuses, the apparatus to be monitored comprising at least one first parameter correlated with at least one second parameter of at least one second apparatus of the group, said parameters representing status variables of said apparatus. The method comprises the following steps: predicting a value of the first parameter from a measured value of the second parameter; comparing the predicted value of the first parameter with a measured value of the first parameter; and analysing the result of the comparison made in the comparison step to detect a possibility of failure. The invention also relates to a computer program, a system and a module for the preventive detection of failure in an apparatus.

    摘要翻译： 下的一组监视，其包括至少两个装置，具有至少一个第一参数监视下的设备中至少一个设备中的故障的预防检测的方法与组中的至少一个第二设备中的至少一个第二参数相关联 中，所述参数表示所述设备的状态变量。 该方法包括以下步骤：预测从所述第二参数的测量值的第一参数的值; 比较所述第一参数和所述第一参数的测量值的预测值; 和分析在比较步骤实现的比较的结果，以检测潜在的故障。 因此本发明涉及一种计算机程序，安装，以及用于在设备中的故障的预防检测的模块。