-
公开(公告)号：US06894422B2
公开(公告)日：2005-05-17
申请号：US10034391
申请日：2002-01-03
申请人： Tetsuaki Kato
发明人： Tetsuaki Kato
CPC分类号： H02N2/142
摘要： An ultrasonic-motor control system includes an ultrasonic motor, a controller which starts the ultrasonic motor by changing a drive frequency of the ultrasonic motor from an initial drive frequency, a calculation device which calculates an initial drive frequency data based on a drive frequency at the commencement of rotation of the ultrasonic motor, and a setting device which sets the initial drive frequency based on the initial drive frequency data at a subsequent commencement of driving of the ultrasonic motor.
摘要翻译： 超声波电动机控制系统包括超声波电动机，通过从初始驱动频率改变超声波电动机的驱动频率来启动超声波电动机的控制器，计算装置，其基于所述超声波电动机的驱动频率来计算初始驱动频率数据 开始超声波马达的旋转，以及设定装置，其在超声波马达的后续开始时基于初始驱动频率数据设定初始驱动频率。
-
公开(公告)号：US20050046714A1
公开(公告)日：2005-03-03
申请号：US10928187
申请日：2004-08-30
申请人： Tetsuaki Kato
发明人： Tetsuaki Kato
CPC分类号： H04N5/2353
摘要： A noise restraint apparatus for a digital camera which has an imaging device for imaging a photographic subject, comprises an outputting processor and a controlling processor. The outputting processor outputs a vertical synchronous signal to the imaging device. The controlling processor controls an output cycle with which the outputting processor outputs the vertical synchronous signal. The output cycle has a first cycle, for a first period which is the period before an exposure operation, in which a photographic subject is imaged by the imaging device, and a second cycle which is longer than the first cycle, for a second period, while the exposure operation is performed.
摘要翻译： 一种用于数字照相机的噪声抑制装置，其具有用于对摄影对象成像的成像装置，包括输出处理器和控制处理器。 输出处理器向成像装置输出垂直同步信号。 控制处理器控制输出处理器输出垂直同步信号的输出周期。 输出周期具有第一周期，第一周期是第一周期，其是曝光操作之前的周期，其中拍摄对象由成像装置成像，以及在第二周期内比第一周期长的第二周期， 同时执行曝光操作。
-
公开(公告)号：US06826450B2
公开(公告)日：2004-11-30
申请号：US10122218
申请日：2002-04-16
IPC分类号： G06F1900
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39186 , G05B2219/39529
摘要： Bendings &Dgr;&agr;, &Dgr;&bgr;, and &Dgr;&thgr; are determined by the torques about the axes of coordinate systems disposed to respective joints and by spring constants. Parameters &agr;, &bgr;, and &thgr;0 are determined by adding an amount of twist to corrected D-H parameters &agr;s, &bgr;s, and &thgr;0s when twist is “0”. A rotational angle &thgr;′ (&thgr;st) is determined from a target position x by executing inverse kinematics using the parameters &agr;s, &bgr;s, and &thgr;0s (step S6). Further, a position x′ is determined from the rotational angle &thgr;′ by executing forward kinematics using the parameters &agr;, &bgr;, and &thgr;0, and the difference &Dgr;x between the target position x and the position x′ is determined. The difference is corrected, and a new target position x is set. Thereafter, the inverse kinematics and the forward kinematics are alternately repeated, and a rotational angle &thgr; when the difference &Dgr;x is equal to or less than a predetermined value is set as a rotational angle &thgr; after correction has been executed, thereby a commanded rotational angle j in which bending has been corrected is determined.
摘要翻译： 弯曲Deltaalpha，Deltabeta和Deltatheta由关于设置在各个接头处的坐标系的轴的扭矩和弹簧常数决定。 参数α，β和θ0通过在扭曲为“0”时将校正的D-H参数α，β和θ0s的加捻量相加来确定。 通过使用参数alphas，betas和theta0s执行逆运动学，从目标位置x确定旋转角θ'（最大值）（步骤S6）。 此外，通过使用参数α，β和θ0执行正向运动，从旋转角θ'确定位置x'，并且确定目标位置x和位置x'之间的差值Deltax。 差异被校正，并且设置新的目标位置x。 此后，反向运动学和正向运动学被交替地重复，并且当差值Deltax等于或小于预定值时的旋转角度θ被设置为在执行校正之后的旋转角度θ，从而命令旋转角度j 其中确定了弯曲已被校正。
-
公开(公告)号：US06208105B1
公开(公告)日：2001-03-27
申请号：US09194440
申请日：1998-11-25
申请人： Tetsuaki Kato , Toru Shirahata
发明人： Tetsuaki Kato , Toru Shirahata
IPC分类号： B25J1900
CPC分类号： B25J9/1674 , G05B19/4061 , G05B2219/49139 , G05B2219/49142
摘要： A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.
摘要翻译： 机器人控制器确定机器人的末端执行器或旋转轴的位置，速度或加速度的异常。 机器人控制器包括伺服CPU，其将当前位置数据周期性地写入与主机CPU的共享RAM中。 当前位置数据是从机器人位置传感器获得的。 使用写入的位置数据，主机CPU将对应于位置，速度或加速度的存储数据与新写入的数据进行周期性比较。 当检测到异常运动时，机器人立即停止。
-
公开(公告)号：US06097169A
公开(公告)日：2000-08-01
申请号：US51534
申请日：1998-04-13
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.
摘要翻译： PCT No.PCT / JP97 / 02827 Sec。 371日期：1998年4月13日 102（e）日期1998年4月13日PCT 1997年8月13日PCT公布。 公开号WO98 / 06545 日期1998年2月19日能够容易地进行教导操作的工业机器人的线圈加工方法和精确的线圈加工。 而不是教导切换点p1，P2，。 。 。 用于在密封中施加和不使用密封剂，如图1所示。 如图5a所示，将加工部（施加密封剂）的距离n1和非加工部的距离n2设定为机器人控制器。 5b。 机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。 如图 如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。 此外，如图1所示。 如图5d所示，针对多个块可以连续进行线圈加工。 如图所示。 如图5f所示，可以在每个程序段中进行加工和非加工循环的设定次数的线圈加工。
-
公开(公告)号：US5719479A
公开(公告)日：1998-02-17
申请号：US518689
申请日：1995-08-24
申请人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
发明人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
IPC分类号： B25J9/16 , B25J19/06 , G05B19/19 , G05B19/4061 , G05D3/00 , G05D3/12 , H02P29/00 , F15B9/00 , G05B5/00
CPC分类号： G05B19/4061 , G05B19/19 , G05B2219/37624 , G05B2219/41128 , G05B2219/41381 , G05B2219/41395
摘要： A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.
摘要翻译： 一种碰撞检测方法，其中由伺服电动机驱动的从动体的碰撞被干扰估计观察器检测到。 该方法获得预先知道的扰动分量，从输入转矩中减去干扰分量以产生修正转矩，并将改变后的转矩输入到发散估计观测器。
-
公开(公告)号：US5691615A
公开(公告)日：1997-11-25
申请号：US204313
申请日：1994-03-14
申请人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
发明人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
CPC分类号： B25J9/163 , G05B2219/34448 , G05B2219/39178 , G05B2219/39181 , G05B2219/39194 , G05B2219/41123 , G05B2219/41425 , G05B2219/42037
摘要： A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command .tau. is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. .tau.=K2.multidot.Suf+(K1/s).multidot.Suf+J*.multidot.r'+A*.multidot.y+Gr*.multidot.sin .theta.+Cf*+.tau.1. The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; .theta. represents a rotational angle of a robot arm; and .tau.1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer function "1" is obtained.
摘要翻译： PCT No.PCT / JP93 / 00995 Sec。 371日期：1994年3月14日 102（e）1994年3月14日PCT PCT 1993年7月16日PCT公布。 公开号WO94 / 02989 日期1994年2月3日无论控制对象的参数波动如何，都获得非常鲁棒的自适应PI控制方法，其中（速度指令r-实际速度y）被用作状态变量Suf。 获得惯性惯量的估计值J *，A *，Gr *和C *，动摩擦系数，取决于机器人角度的重力扰动和库仑摩擦，并且根据以下方式获得转矩指令τ 以便将每个估计值和其实际值之间的误差消除为零。 tau = K2xSuf +（K1 / s）xSuf + J * xr'+ A * xy + Gr *xsinθ+ Cf * + tau 1.上述方程右侧的第一项和第二项与获得的转矩指令相同 由PI控制。 此外，r'表示指令的加速度; theta表示机器人手臂的旋转角度; 并且τ1表示对应于杂项干扰的开关输入。 由于每个估计值与其实际值之间的误差为零，所以获得速度指令r =实际速度y的关系，因此获得传递函数“1”的自适应PI控制。
-
公开(公告)号：US5493192A
公开(公告)日：1996-02-20
申请号：US84181
申请日：1993-06-28
申请人： Ryo Nihei , Yasuo Naito , Kazuhisa Otsuka , Tetsuaki Kato , Hideki Sugiyama
发明人： Ryo Nihei , Yasuo Naito , Kazuhisa Otsuka , Tetsuaki Kato , Hideki Sugiyama
CPC分类号： B25J19/06 , B23K11/252 , B25J9/1674
摘要： A method for accurately detecting an abnormal load caused, e.g., by adhesion of the distal end of a spot gun. A flag F2 is set to "1" when a move command is outputted to move a movable part of a machine and is reset to "0" upon lapse of a predetermined very short period of time, and, while the flag F2 remains "0" during stoppage of the movable part, a disturbance torque T0, estimated by a disturbance estimation observer, is stored and successively updated. When a move command is thereafter outputted, and the flag F2 is set to "1", an estimated disturbance torque T1 is obtained, and if the absolute value .vertline.T1-T0.vertline. of the difference between the disturbance torque T1 and the disturbance torque T0, estimated immediately before the movable part is moved, is greater than a reference value Ts, it is determined that an abnormal load is applied, whereupon an alarm is outputted, a flag F1 is set to "1", and the motion is stopped. The disturbance torque T0 estimated during stoppage indicates a value of the load then acting on the movable part, such as gravity. Consequently, the value .vertline.T1-T0.vertline. represents a disturbance torque during movement of the movable part, which is free from the influence of gravity, and a comparison between this value and the reference value Ts permits accurate detection of a force acting on the movable part, not including gravity or frictional force, whereby the occurrence of adhesion or the like can be accurately detected.
摘要翻译： PCT No.PCT / JP92 / 01391 Sec。 371日期：1993年6月28日 102（e）日期1993年6月28日PCT提交1992年10月10日PCT公布。 出版物WO93 / 08958 日期：1993年5月13日。一种用于准确地检测异常载荷的方法，例如通过点枪的远端的粘附而引起。 当输出移动指令以移动机器的可移动部分时，标志F2被设置为“1”，并且在经过预定的非常短的时间段后被重置为“0”，并且当标志F2保持为“0” “在可动部件的停止期间，由干扰估计观察者估计的干扰转矩T0被存储并依次更新。 此后，当输出移动指令并且将标志F2设定为“1”时，获得估计的干扰转矩T1，如果绝对值| T1-T0 | 在可移动部分移动之前估计的干扰转矩T1和干扰转矩T0之间的差异大于参考值Ts，确定施加异常负载，从而输出报警，标志F1 被设定为“1”，停止运动。 在停止期间估计的扰动转矩T0表示随后作用在可动部分上的负载的值，例如重力。 因此，值| T1-T0 | 表示可移动部件的移动期间的干扰转矩，其不受重力的影响，并且该值与参考值Ts之间的比较允许精确地检测作用在可移动部件上的力，不包括重力或摩擦力， 从而可以精确地检测粘附等的发生。
-
公开(公告)号：US5444612A
公开(公告)日：1995-08-22
申请号：US368711
申请日：1995-01-03
申请人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
CPC分类号： G05B19/19 , B25J9/1638 , G05B13/042 , G05B2219/34047 , G05B2219/41367 , G05B2219/42037 , G05B2219/42153 , G05B2219/42155
摘要： An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.
摘要翻译： 一种用于控制承受较大负载变化的机器人或机床的自适应比例加整体控制系统。 PI控制系统包括速度控制回路和速度控制回路中提供的预补偿器。 预补偿器相当于伺服电机的参考模型和反向系统的组合的系统，具有适应性。 由于预补偿器被并入到速度控制回路中，所以即使负载的惯性在很大程度上是可变的，也可以进行鲁棒的控制。
-
公开(公告)号：US5440213A
公开(公告)日：1995-08-08
申请号：US177342
申请日：1994-01-04
申请人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
发明人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
IPC分类号： G05B19/4061 , G05B5/00
CPC分类号： G05B19/4061
摘要： A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from be damaged by the collision. An estimated disturbance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (S1 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.
摘要翻译： 一种用于通过使用观察者快速安全地检测由伺服电动机和障碍物驱动的被驱动体之间的碰撞的碰撞检测方法，从而防止机器部件被碰撞损坏。 根据具有传递函数（Kt / J，S）的块（S1〜54）形成的观察者（50），根据转矩指令（I）和实际电动机速度（θ），求出估计的扰动转矩（y） K3，K4 / S，1 / S），其分别取决于转矩常数，惯性和对应的参数，以及具有与惯量和单位系统的乘积相当的传递函数（JxA）的乘法器 转换常数。 当估计的扰动转矩超过阈值（Ts）时，响应于从比较器（62）发出的警报，伺服电动机的驱动被停止，在机器的任何部件断开之前， 伺服电机输出扭矩对应于机器部件的断裂极限。
-
-
-
-
-
-
-
-
-
搜索结果
81 条记录 (耗时 0.018 秒)
