公开(公告)号：US5993044A

公开(公告)日：1999-11-30

申请号：US916574

申请日：1997-08-22

申请人： Masahiro Ohto ,  Hisashi Kinoshita ,  Takashi Nakatsuka ,  Yoshinori Nishida

发明人： Masahiro Ohto ,  Hisashi Kinoshita ,  Takashi Nakatsuka ,  Yoshinori Nishida

IPC分类号： B25J9/22 ,  G05B19/416 ,  G06F17/17

CPC分类号： G06F17/17 ,  Y02P90/265

摘要： An acceleration generated when a tool tip of a robot moves straightly or turns a teaching point inward, is suppressed under a predetermined maximum acceleration so that the tool tip moves smoothly. From teaching point data including a moving instruction to specify a trajectory shape on the basis of a teaching point giving a reference based on which a tip portion of the robot moves, a moving speed instruction to specify a moving speed of the tip portion on the trajectory, and an allowable path error to specify a maximum value of an error between the teaching point and the trajectory, a realizable moving speed when the tip portion of the robot moves on the straight line trajectory is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is obtained, a realizable moving speed when the tip portion of the robot passes the inside of the teaching point is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is calculated, and those values are stored in the teaching point data. When the robot is operated, in accordance with the straight portion deceleration rate and the inward turning portion deceleration rate stored in the teaching point data, the moving speeds of the robot at the straight portion and the inward turning portion are reset.

摘要翻译： 当机器人的工具尖端直线移动或向内转动教导点时产生的加速度在预定的最大加速度下被抑制，使得刀尖顺利地移动。 从包括移动指令的教学点数据，基于给出基于机器人移动的尖端部分的参考的教导点来指定轨迹形状，指定尖端部分在轨迹上的移动速度的移动速度指令 以及用于指定教导点和轨迹之间的误差的最大值的可允许路径误差，当机器人的尖端部分在直线轨迹上移动时可实现的移动速度获得相对于移动的减速度 获得记录在教学点数据中的速度，获得当机器人的尖端部分通过教导点内部时可实现的移动速度，计算相对于记录在教学点数据中的移动速度的减速率，以及 这些值被存储在教学点数据中。 当机器人被操作时，根据存储在示教点数据中的直线部分减速率和向内转动部分减速度，机器人在直线部分和向内转动部分的移动速度被复位。

公开(公告)号：US06570355B2

公开(公告)日：2003-05-27

申请号：US09822483

申请日：2001-04-02

申请人： Kunitoshi Morita ,  Kei Aimi ,  Masahiro Ohto ,  Kazunori Matsumoto ,  Takashi Nakatsuka

发明人： Kunitoshi Morita ,  Kei Aimi ,  Masahiro Ohto ,  Kazunori Matsumoto ,  Takashi Nakatsuka

IPC分类号： B25J1906

CPC分类号： B25J9/1674 ,  G05B9/02 ,  G05B2219/40217

摘要： An object of the present invention is to provide a control apparatus for a robot in which the work efficiency is improved in the whole robot peripheral system including the robot, and in which considering the increase in the consciousness of safety such as the standardization of safety apparatuses, both the reliability of the safety circuit of the control apparatus for a robot and the ensuring of the safety are improved. By connecting, to peripheral devices outside the robot, each intermediate output signal line for extracting the operation signal or the emergency stop signal of each of the plurality of switches each assigned to a factor causing the stop of the robot, a factor to cause the stop of the robot body alone can be distinguished from a factor to cause the stop of both the robot body and the peripheral devices.

摘要翻译： 本发明的目的是提供一种机器人的控制装置，其中在包括机器人的整个机器人外围系统中提高了工作效率，并且考虑到诸如安全装置的标准化等安全意识的增加 机器人控制装置的安全电路的可靠性和安全性的确保都得到改善。通过将机器人外部的外围设备连接到用于提取操作信号或紧急停止信号的中间输出信号线 多个开关中的每一个分配给导致机器人停止的因素，可以将导致机器人主体单独停止的因素与导致机器人主体和外围设备的停止的因素区分开。

公开(公告)号：US5319294A

公开(公告)日：1994-06-07

申请号：US65232

申请日：1993-05-24

申请人： Masahiro Ohto ,  Hisashi Kinoshita ,  Nin Kake ,  Yoshihiro Ino

发明人： Masahiro Ohto ,  Hisashi Kinoshita ,  Nin Kake ,  Yoshihiro Ino

IPC分类号： G05B19/23 ,  G05B19/405

CPC分类号： G05B19/237 ,  G05B2219/37285 ,  G05B2219/37391 ,  G05B2219/37543 ,  G05B2219/41132 ,  G05B2219/42033 ,  G05B2219/42062

摘要： An automatic offset adjusting apparatus for current detectors in a digital controller for a servo motor is constructed so that, when errors occur in offset correction values due to a temperature change and the like while the servo motor is in operation, an electrical angle detecting unit detects a ripple of the torque of the servo motor, on the basis of a ripple of a torque command value, and detects a first electrical angle, where the torque command value becomes maximum, and a second electrical angle, where the torque command value becomes minimum, based on an electrical angle signal of the servo motor, a judgement unit judges whether or not offset correction errors have occurred on the basis of a difference between the first and second electrical angles, and, if the judgement unit judges that the offset correction errors have occurred, a correction unit adds adjustment values for the offset correction values corresponding to the first electrical angle to the respective offset correction values to update the offset correction values, whereby the correction of the offset correction values is automatically carried out even while the servo motor is in operation, thereby preventing generation of the ripple of the torque of the servo motor.

摘要翻译： 一种用于伺服电动机的数字控制器中的电流检测器的自动偏移调整装置被构造成使得当伺服电动机运行时由于温度变化等导致的偏移校正值中出现错误时，电角度检测单元检测 基于转矩指令值的波动，伺服电动机的转矩的波动，并且检测转矩指令值变为最大的第一电角度和转矩指令值变为最小的第二电角度 基于伺服电动机的电角度信号，判断单元基于第一和第二电角度之间的差来判断偏移校正误差是否发生，并且如果判断单元判断偏移校正误差 校正单元将对应于第一电角度的偏移校正值的调整值加到相应的偏移校正值 以更新偏移校正值，由此即使在伺服电动机运行时也自动执行偏移校正值的校正，从而防止产生伺服电动机的转矩纹波。

公开(公告)号：US06684131B2

公开(公告)日：2004-01-27

申请号：US10183897

申请日：2002-06-25

申请人： Atsumi Hashimoto ,  Takashi Nakatsuka ,  Masahiro Ohto

发明人： Atsumi Hashimoto ,  Takashi Nakatsuka ,  Masahiro Ohto

IPC分类号： G06F1900

CPC分类号： B25J9/1651 ,  G05B2219/40454

摘要： A robot controller capable of minimizing an increase in the tact time during work, reducing changes in joint axes of the robot, thereby providing the structure with long mechanical life. The robot controller i) stores a plurality of movement data formed of amount and time for movement; ii) checks whether a movement of a robot has acceleration exceeding a predetermined level by calculation on the basis of the stored movement data; iii) increases the time for movement of the corresponding movement data, the preceding and following data to the movement data, if the calculation indicates over-acceleration; and iv) controls the robot according to the time-increased movement data.

摘要翻译： 一种机器人控制器，其能够最小化工作中的节拍时间的增加，减少机器人的关节轴线的变化，从而提供具有较长机械寿命的结构。 机器人控制器i）存储由移动量和时间形成的多个运动数据; ii）基于存储的运动数据，通过计算来检查机器人的运动是否具有超过预定水平的加速度; iii）如果计算指示过度加速，则将相应的移动数据，前一个和后续数据移动到移动数据的时间增加; 并且iv）根据时间增加的运动数据来控制机器人。