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    Systems and methods that facilitate motion control through coordinate system transformations
    1.
    发明授权
    Systems and methods that facilitate motion control through coordinate system transformations 有权
    通过坐标系变换促进运动控制的系统和方法

    公开(公告)号：US08000838B2

    公开(公告)日：2011-08-16

    申请号：US11848926

    申请日：2007-08-31

    申请人： Jatin P. Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William C. Schwarz ,  Jeffrey W. Brooks ,  Slobodan Milosevic

    发明人： Jatin P. Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William C. Schwarz ,  Jeffrey W. Brooks ,  Slobodan Milosevic

    IPC分类号： G05B19/19 ,  G05B19/04

    CPC分类号： B25J9/1658 ,  B25J9/1669 ,  G05B19/056 ,  G05B19/4086 ,  G05B2219/13106 ,  G05B2219/33263 ,  G05B2219/33269 ,  G05B2219/36038 ,  G05B2219/39139

    摘要： The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.

    摘要翻译： 本发明涉及在工业控制环境中促进不同坐标系之间运动的系统和方法。 系统和方法接受一个坐标系统中的数据，并将数据转换为不同的坐标系。 合适的变换包括在笛卡尔坐标，预定义非笛卡尔坐标系和用户定义的非笛卡尔坐标系之间进行变换的指令，包括非笛卡尔坐标系与非笛卡尔坐标系之间的转换。 这样的转换可以基本上以任何工业控制语言编程，并且可以与控制环境无缝集成。 系统和方法可用于生成运动指令，其中包括源和目标坐标系以及它们之间的转换等信息。 本发明提供了通过相应的运动指令将各种系统连接在一起，其中源系统的运动被映射到目标系统的坐标系，并且目标系统相应地移动。

    ARTICULATED ARM COORDINATE MEASURING MACHINE
    2.
    发明申请
    ARTICULATED ARM COORDINATE MEASURING MACHINE 有权
    铰链臂坐标测量机

    公开(公告)号：US20090249634A1

    公开(公告)日：2009-10-08

    申请号：US12417146

    申请日：2009-04-02

    申请人： Bo PETTERSSON

    发明人： Bo PETTERSSON

    IPC分类号： G01B5/008

    CPC分类号： G01B5/008 ,  G01B7/008 ,  G05B2219/33263 ,  G05B2219/37193 ,  G05B2219/37376 ,  G05B2219/40233 ,  G05B2219/45061

    摘要： The invention relates to a coordinate measuring machine (CMM) for determining a measuring position of a probe. The CMM comprises an articulated arm having first and second ends and at least one joint between the first and the second end, the first end forming a base being positionable on a supporting surface, the second end being movable relative to the first end and having attached the probe. Further exists at least one sensing unit for measurement of an actual relative setting of said at least one joint and at least one computing unit for calculating a measuring position of the probe relative to the base, as well as for referencing the measuring position in an external coordinate system by using a provided base-position in the external coordinate system.

    摘要翻译： 本发明涉及一种用于确定探头的测量位置的坐标测量机（CMM）。 所述CMM包括铰接臂，所述铰接臂具有第一和第二端以及所述第一和第二端之间的至少一个接头，所述第一端形成基座，所述第一端可定位在支撑表面上，所述第二端可相对于所述第一端移动并具有附接 探针。 还存在用于测量所述至少一个关节的实际相对设置的至少一个感测单元和用于计算探针相对于基座的测量位置的至少一个计算单元以及用于参考外部测量位置 通过在外部坐标系中使用提供的基准位置来确定坐标系。

    SYSTEMS AND METHODS THAT FACILITATE MOTION CONTROL THROUGH COORDINATE SYSTEM TRANSFORMATIONS
    3.
    发明申请
    SYSTEMS AND METHODS THAT FACILITATE MOTION CONTROL THROUGH COORDINATE SYSTEM TRANSFORMATIONS 有权
    通过协调系统变换来辅助运动控制的系统和方法

    公开(公告)号：US20080051938A1

    公开(公告)日：2008-02-28

    申请号：US11848926

    申请日：2007-08-31

    申请人： Jatin Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William Schwarz ,  Jeffery Brooks ,  Slobodan Milosevic

    发明人： Jatin Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William Schwarz ,  Jeffery Brooks ,  Slobodan Milosevic

    IPC分类号： G05B19/04

    CPC分类号： B25J9/1658 ,  B25J9/1669 ,  G05B19/056 ,  G05B19/4086 ,  G05B2219/13106 ,  G05B2219/33263 ,  G05B2219/33269 ,  G05B2219/36038 ,  G05B2219/39139

    摘要： The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.

    摘要翻译： 本发明涉及在工业控制环境中促进不同坐标系之间运动的系统和方法。 系统和方法接受一个坐标系统中的数据，并将数据转换为不同的坐标系。 合适的变换包括在笛卡尔坐标，预定义非笛卡尔坐标系和用户定义的非笛卡尔坐标系之间进行变换的指令，包括非笛卡尔坐标系与非笛卡尔坐标系之间的转换。 这样的转换可以基本上以任何工业控制语言编程，并且可以与控制环境无缝集成。 系统和方法可用于产生运动指令，其中包括源和目标坐标系统以及它们之间的转换等信息。 本发明提供了通过相应的运动指令将各种系统连接在一起，其中源系统的运动被映射到目标系统的坐标系，并且目标系统相应地移动。

    Method for controlling pivoting machine member
    4.
    发明授权
    Method for controlling pivoting machine member 有权
    旋转机械构件的控制方法

    公开(公告)号：US06427098B1

    公开(公告)日：2002-07-30

    申请号：US09535664

    申请日：2000-03-22

    申请人： Steven E. Alverson ,  Kirby L. Stone

    发明人： Steven E. Alverson ,  Kirby L. Stone

    IPC分类号： G06F1900

    CPC分类号： G05B19/4086 ,  G05B19/182 ,  G05B2219/33263 ,  G05B2219/35261 ,  G05B2219/49288 ,  G05B2219/50157

    摘要： A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angular units. The propelling linear actuators are controlled by servomechanism control providing position and velocity control. Position measurements for the pivoting members measure linear displacement of the propelling actuator. Position commands for the pivoting members are compensated according to the non-linear relationship between displacement of the propelling actuator and the angular displacement of the pivoting member.

    摘要翻译： 用于控制由线性致动器推动的枢转机器构件的方法和装置，以允许枢转构件与平移机构构件的协调运动。 旋转机械部件的位置指令以角度单位给出。 推进线性执行器由伺服机构控制来控制，提供位置和速度控制。 枢转构件的位置测量测量推进执行器的线性位移。 根据推进执行器的位移与枢转构件的角位移之间的非线性关系来补偿枢转构件的位置指令。

    Manipulator controlling apparatus
    7.
    发明授权
    Manipulator controlling apparatus 失效
    机械手控制装置

    公开(公告)号：US4950116A

    公开(公告)日：1990-08-21

    申请号：US395721

    申请日：1989-08-18

    申请人： Shinichiro Nishida

    发明人： Shinichiro Nishida

    IPC分类号： B25J13/02 ,  G01L5/22 ,  G05B19/427

    CPC分类号： G01L5/226 ,  B25J13/02 ,  G05B19/427 ,  G05B2219/33263 ,  G05B2219/37357 ,  G05B2219/37396 ,  G05B2219/40195

    摘要： Apparatus for controlling a manipulator employs a control device, first to third detectors, a producing device and a driving device. The first detector detects an operating force/torque generated by the control device and the second detector detects a deflecting amount of the control device from a reference position. The third detector detects an end force applied on an end portion of the manipulator and reaction signals are generated by the producing device. The reaction signal corresponds to a function of the deflecting amount and the end force. A force/torque corresponding to the difference between output signals from the first detector and the producing device are generated by the driving device and applied on the control device.

    摘要翻译： 用于控制机械手的装置采用控制装置，第一至第三检测器，制造装置和驱动装置。 第一检测器检测由控制装置产生的操作力/转矩，第二检测器从参考位置检测控制装置的偏转量。 第三检测器检测施加在操纵器的端部上的端力，并且由生成装置产生反作用信号。 反应信号对应于偏转量和端部力的函数。 对应于来自第一检测器和生产装置的输出信号之差的力/转矩由驱动装置产生并施加在控制装置上。

    Process and switching circuit for the positional control of radial drilling machines
    8.
    发明授权
    Process and switching circuit for the positional control of radial drilling machines 失效
    径向钻床定位控制的过程和切换电路

    公开(公告)号：US4543635A

    公开(公告)日：1985-09-24

    申请号：US416106

    申请日：1982-09-09

    申请人： Istvan Joo ,  Lajos Schutz ,  Jozsef Sarosi ,  Sandor P. Szabo ,  Janos Taal ,  Otto Szebenyi

    发明人： Istvan Joo ,  Lajos Schutz ,  Jozsef Sarosi ,  Sandor P. Szabo ,  Janos Taal ,  Otto Szebenyi

    IPC分类号： G05B19/408 ,  G05B19/42

    CPC分类号： G05B19/4086 ,  G05B2219/33263 ,  G05B2219/35354 ,  G05B2219/36503 ,  Y10T408/175

    摘要： A process is disclosed for automatically positioning the drill spindle over a workpiece at a predetermined location defining the bore center, wherein the shop drawing and the workpiece bore centers are defined as to their locations in different coordinate systems and wherein the invention provides for calculating and measuring steps to transform between the various coordinate systems. The invention discloses also apparatus for practicing the process by employing a controller-arithmatic unit which carries out the coordination of the plurality of logic circuits and the effecting the use of a programmed performance of the process including the teaching or updating of the program for new bores.

    摘要翻译： 公开了一种用于在确定孔中心的预定位置处将钻头主轴自动定位在工件上的过程，其中车间图和工件孔中心被定义为它们在不同坐标系中的位置，并且其中本发明提供了计算和测量 在各种坐标系之间进行变换的步骤。 本发明还公开了通过采用执行多个逻辑电路的协调的控制器 - 对数单元来实现该过程的装置，并且实现了使用包括对新孔的程序的教导或更新的处理过程的执行 。

    Work-head with automatic motions controls
    9.
    再颁专利
    Work-head with automatic motions controls 失效

    公开(公告)号：USRE28437E

    公开(公告)日：1975-06-03

    申请号：US31076972

    申请日：1972-11-30

    IPC分类号： B25J9/00 ,  B65G61/00 ,  G05B19/418

    CPC分类号： B65G61/00 ,  B25J9/0093 ,  G05B19/4182 ,  G05B2219/33263 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/40006 ,  G05B2219/41309 ,  Y02P90/083

    摘要： 56. AUTOMATICALLY CONTROLLED APPARATUS, INCLUDING A WORK DEVICE, MEANS FOR TRANSPORTING SAID WORK DEVICE THROUGH THREE-DIMENSIONAL RANGES OF POSITIONS, AND CONTROL MEANS FOR SAID WORK DEVICE AND SAID TRANSPORTING MEANS, SAID CONTROL MEANS INCLUDING A FIRST SOURCE OF CONTROL INFORMATION FOR DETERMINING A PRESCRIBED PROGRAM OF MOTIONS OF SAID WORK DEVICE IN THREE-DIMENSIONAL SPACE, A FURTHER SOURCE OF CONTROL INFORMATION INDEPENDENT OF SAID TRANSPORTING MEANS FOR GENERATING, DURING OPERATION OF SAID FIRST SOURCE, OFFSET INFORMATION THAT VARIES IN THE COURSE OF THE PROGRAM PROVIDED BY SAID FIRST SOURCE OF CONTROL INFORMATION, AND MEANS COMBINING AND RESPONSIVE JOINTLY TO SAID FIRST AND FURTHER SOURCES OF CONTROL INFORMATION FOR CONTROLLING SAID TRANSPORTING MEANS TO EXECUTE SAID PRESCRIBED PROGRAM OF MOTIONS MODIFIED BY THE GENERATED OFFSET INFORMATION.

    WIRE ELECTRIC DISCHARGE MACHINE FOR TAPER-MACHINING TILTED WORKPIECE
    10.
    发明申请
    WIRE ELECTRIC DISCHARGE MACHINE FOR TAPER-MACHINING TILTED WORKPIECE 审中-公开
    用于加工倾斜工件的电线电动排料机

    公开(公告)号：US20120312786A1

    公开(公告)日：2012-12-13

    申请号：US13452999

    申请日：2012-04-23

    申请人： Yasuo ARAKAWA ,  Kaoru HIRAGA ,  Yuji TUBOGUCHI

    发明人： Yasuo ARAKAWA ,  Kaoru HIRAGA ,  Yuji TUBOGUCHI

    IPC分类号： B23H1/00

    CPC分类号： B23H7/20 ,  B23H1/00 ,  B23H7/06 ,  B23H11/003 ,  G05B19/4086 ,  G05B2219/33263

    摘要： In a wire electric discharge machine, a workpiece mounting unit mounts a workpiece tilted at a preset angle to a plane based on two orthogonal axes, X- and Y-axes. An XY-coordinate system is tilted at the preset angle so that it is transformed into an X′Y′-coordinate system. A machining command value commanded by a machining program is corrected based on the X′Y′-coordinate system. Thus, the tilted workpiece is taper-machined with a wire electrode kept substantially perpendicular to the XY-plane (table surface).

    摘要翻译： 在线放电机中，工件安装单元基于两个正交轴X轴和Y轴将以倾斜预设角度的工件安装到平面。 XY坐标系以预设角度倾斜，使其被变换为X'Y'坐标系。 基于X'Y'-coordinate系统校正由加工程序指令的加工指令值。 因此，倾斜的工件用与XY平面（台面）基本垂直的线电极进行锥形加工。