公开(公告)号：US07759894B2

公开(公告)日：2010-07-20

申请号：US11775636

申请日：2007-07-10

申请人： Mark G. Marino ,  John K. Tillotson ,  Danial L. Kosht

发明人： Mark G. Marino ,  John K. Tillotson ,  Danial L. Kosht

IPC分类号： B25J9/18 ,  G05B19/24

CPC分类号： B64C13/503

摘要： An aircraft user interface haptic feedback system includes a user interface, a position sensor, a cogless motor, and a control circuit. The user interface is movable to a position. The position sensor senses the position of the user interface and supplies a user interface position signal. The cogless motor is coupled to the user interface, and receives motor drive signals. The cogless motor, in response to the motor drive signals, supplies feedback force to the user interface. The control circuit receives at least the user interface position signal and a signal representative of the motor current and is operable, in response to at least these signals, to control the motor current supplied to the cogless motor using a non-trapezoidal motor commutation scheme.

摘要翻译： 飞机用户界面触觉反馈系统包括用户界面，位置传感器，无刷马达和控制电路。 用户界面可移动到一个位置。 位置传感器感测用户界面的位置，并提供用户界面位置信号。 无刷马达耦合到用户接口，并接收电机驱动信号。 无刷电机响应于电机驱动信号，向用户界面提供反馈力。 控制电路至少接收用户接口位置信号和表示电动机电流的信号，并且至少响应于这些信号，可以使用非梯形电动机换向方案来控制提供给无刷电动机的电动机电流。

公开(公告)号：US6104158A

公开(公告)日：2000-08-15

申请号：US333613

申请日：1999-06-15

申请人： Charles J. Jacobus ,  Alan J. Riggs ,  Mark J. Taylor

发明人： Charles J. Jacobus ,  Alan J. Riggs ,  Mark J. Taylor

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G05B19/24

CPC分类号： G06F3/016 ,  B25J9/1689 ,  G05G9/04737 ,  G06F3/011 ,  A63B2071/0666 ,  G05B2219/35416 ,  G05B2219/37396 ,  G05G2009/04766 ,  G06F2203/012 ,  G06F2203/015

摘要： A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

摘要翻译： 存在用于向用户提供触觉虚拟现实的系统和方法。 用户的位置和方位用于产生虚拟现实力场。 作为该力场的函数的用户又产生力。 提出了一种六轴操纵器，用于向这种系统提供用户界面。 该操纵器提供了一个独特的运动学结构，具有两个恒力弹簧，它们提供重力补偿，从而使操纵器有效浮动。

公开(公告)号：US5341459A

公开(公告)日：1994-08-23

申请号：US744118

申请日：1991-08-09

申请人： Paul G. Backes

发明人： Paul G. Backes

IPC分类号： B25J9/16 ,  G06F15/00 ,  G05B19/24

CPC分类号： B25J9/1661 ,  B25J9/1689

摘要： A generalized compliant motion with sensor fusion primitive uses a set of input parameters provided from a local control site to a remote execution site to control a telerobot with a combination of a priori trajectory motion and real and virtual local and remote sensor inputs. The set of input parameters specify the desired telerobot behavior based on a combination of local and remote information. This general motion primitive requires less computer memory size, and provides more capabilities, than the task specific primitives it replaces because redundancies are eliminated while permutations of capabilities are available. Trajectory motion occurs during a nominal motion time segment while termination conditions are monitored during an ending time segment to stop motion when a termination condition occurs. Force and compliant motion, teleoperation, dither, virtual springs restoration and joint limit control are combined with the trajectory motion at the remote site.

摘要翻译： 具有传感器融合原语的广义兼容运动使用从本地控制站点到远程执行站点提供的一组输入参数来控制具有先验轨迹运动和实际和虚拟本地和远程传感器输入的组合的远程机器人。 该组输入参数基于本地和远程信息的组合来指定所需的远程机器人行为。 这种通用运动原语需要更少的计算机存储器大小，并且提供比其替换的任务特定原语更多的能力，因为在功能排列可用的情况下，冗余被消除。 在标称运动时间段期间发生轨迹运动，而在终止时间段期间监视终止条件以在终止条件发生时停止运动。 强制和顺应运动，远程操作，抖动，虚拟弹簧恢复和关节限制控制与远程站点的轨迹运动相结合。

公开(公告)号：US4709198A

公开(公告)日：1987-11-24

申请号：US868041

申请日：1986-05-29

申请人： Kazutaka Ogo ,  Masahiro Hayashi ,  Takatoshi Suzuki ,  Katsuiku Hokao ,  Akio Asai ,  Takayuki Tsuruhashi

发明人： Kazutaka Ogo ,  Masahiro Hayashi ,  Takatoshi Suzuki ,  Katsuiku Hokao ,  Akio Asai ,  Takayuki Tsuruhashi

IPC分类号： B23Q17/09 ,  B23Q15/12 ,  G05B19/4065 ,  G05B19/24

CPC分类号： G05B19/4065 ,  G05B2219/37351

摘要： A high speed machining controller comprises an acoustic emission sensor which is installed in or near a machine for machining a work piece in a high speed and which detects acoustic emission generated during machining a work piece; a signal processing means which is composed of a band-pass filter for passing an element of a frequency band corresponding to the acoustic emission by inputting a signal outputted from the acoustic emission sensor, a rectification circuit for rectifying a signal outputted from said band-pass filter, a peak detection circuit for detecting peak values of the signal outputted from the rectification circuit, and a smoothing circuit for smoothing output signals of said peak detection circuit and for outputting a signal corresponding to the amplitude of the acoustic emission for the purpose of processing the output signal of the acoustic emission sensor to detect its amplitude; a cutting condition discrimination means for judging the cutting condition of a work piece by comparing a detected amplitude of the acoustic emission with a predetermined discrimination value for discriminating the cutting condition of said work piece; and a control means to instruct and control the machining condition including at least the feed speed of a machine tool on the basis of the cutting condition of the work piece.

摘要翻译： 高速加工控制器包括安装在机器中或机器附近的声发射传感器，用于高速加工工件并检测在加工工件期间产生的声发射; 一个信号处理装置，它由带通滤波器组成，该带通滤波器用于通过输入从声发射传感器输出的信号通过与声发射相对应的频带的元素;整流电路，用于整流从所述带通输出的信号 滤波器，用于检测从整流电路输出的信号的峰值的峰值检测电路，以及平滑电路，用于平滑所述峰值检测电路的输出信号，并输出与用于处理的声发射的幅度对应的信号 声发射传感器的输出信号检测其幅度; 切割条件判别装置，用于通过将检测到的声发射的振幅与用于识别所述工件的切割条件的预定鉴别值进行比较来判断工件的切割状态; 以及控制装置，用于基于工件的切割条件指导和控制至少包括机床的进给速度的加工条件。

公开(公告)号：US4639172A

公开(公告)日：1987-01-27

申请号：US700703

申请日：1985-01-25

申请人： Hajimu Kishi ,  Mitsuo Matsui ,  Hitoshi Matsuura

发明人： Hajimu Kishi ,  Mitsuo Matsui ,  Hitoshi Matsuura

IPC分类号： B23Q35/12 ,  B23Q35/123 ,  B23Q35/121 ,  G05B19/24

CPC分类号： B23Q35/123 ,  Y10T409/300896 ,  Y10T409/30196

摘要： Provided is a tracer control method in a master-slave type tracer system having first and second tracer units in each of which a tracer controller (TCC.sub.1, TCC.sub.2) generates velocity commands (V.sub.x, V.sub.y, V.sub.z) along respective axes by using a detection signal generated by a tracer head (TC.sub.1, TC.sub.2), motors (XM.sub.1, YM.sub.1, ZM.sub.1 ; XM.sub.2, YM.sub.2, ZM.sub.2) provided for respective axes are driven on the basis of the velocity commands and a workpiece (WK.sub.1, WK.sub.2) is subjected to tracer machining conforming to the profile of a model (MDL), tracer machining being performed by tracing a model (MDL.sub.1) with the tracer head (TC.sub.1) on the first tracer unit side and providing the second tracer unit with a move command on the basis of the tracing. In the tracer control method, the first tracer unit (TCC.sub.1, TCM.sub.1) produces the velocity commands (V.sub.x, V.sub.y, V.sub.z) in digital form to drive the motors (XM.sub.1, YM.sub.1, ZM.sub.1 ) for the respective axes, monitors a current position of a movable element, and sends a distance travelled along each axis during a predetermined time interval as a digital move command to the second tracer unit (TCC.sub.2, TCM.sub.2). A pulse distributor (PDC.sub.2) of the second tracer unit performs a pulse distribution calculation on the basis of move command data received as an input from the first tracer unit, thereby to control the motors (XM.sub.2, YM.sub.2, ZM.sub.2) of the respective axes on the side of the second tracer unit.

摘要翻译： PCT No.PCT / JP84 / 00056 Sec。 371日期1985年1月25日第 102（e）日期1985年1月25日PCT提交1984年2月20日PCT公布。 第WO84 / 04718号公报 日期为1984年12月6日。提供了一种具有第一和第二示踪器单元的主从型示踪器系统中的示踪器控制方法，每个示踪器单元中的示踪器控制器（TCC1，TCC2）沿着生成速度命令（Vx，Vy，Vz） 通过使用由针对各轴设置的示踪头（TC1，TC2），电动机（XM1，YM1，ZM1，XM2，YM2，ZM2）生成的检测信号的各轴通过速度指令和工件（WK1 ，WK2）进行符合模型轮廓（MDL）的示踪加工，通过在第一示踪单元侧跟踪具有示踪头（TC1）的模型（MDL1）来执行示踪加工，并向第二示踪单元提供 基于跟踪的移动命令。 在跟踪器控制方法中，第一跟踪单元（TCC1，TCM1）产生数字形式的速度指令（Vx，Vy，Vz）来驱动各个轴的电机（XM1，YM1，ZM1），监视当前位置 可移动元件，并且在预定时间间隔内将沿着每个轴行进的距离作为数字移动命令发送到第二示踪单元（TCC2，TCM2）。 第二示踪单元的脉冲分配器（PDC2）基于从第一示踪单元作为输入接收的移动指令数据进行脉冲分布计算，从而控制各轴的电动机（XM2，YM2，ZM2） 第二示踪器单元的一侧。

公开(公告)号：US4617503A

公开(公告)日：1986-10-14

申请号：US801823

申请日：1985-11-26

申请人： Richard K. Davis ,  Clayton R. Roberts ,  Stephen W. Tehon

发明人： Richard K. Davis ,  Clayton R. Roberts ,  Stephen W. Tehon

IPC分类号： B23Q17/22 ,  G05B19/18 ,  G05B19/401 ,  G05B19/404 ,  G05B19/24

CPC分类号： G05B19/4015

摘要： A datum is disclosed for use as a coordinate reference in a numerically controlled machine tool. The datum which is active, consists of an elongated member, typically one half wavelength in length, supported at its center (and antinode) by a plate, and including electromechanical transducers for exciting resonance in a desired fundamental longitudinal mode. The datum is operated by an operational amplifier having the transducers connected in the amplifier feedback path. Assurance against the excitation of undesired modes is achieved by limiting the gain of the operational amplifier throughout the response band of the transducers, by use of an inductor for resonating the input capacitance of the driving transducer at the frequency of the desired mode and by gain bandwidth limits of the operational amplifier. The datum is active at an ultrasonic frequency suited to touch sensing and thus produces a response in a touch sensing system when the cutter is touched to the datum. The response provides an accurate indication of the cutter position referenced to the coordinate system of the machine tool as well as a test signal for a system test calibration.

摘要翻译： 公开了用于数控机床中的坐标参考的基准。 有源的基准由细长的构件组成，通常长度为一半的波长，由板支撑在其中心（和波腹）处，并且包括用于以期望的基本纵向模式激发谐振的机电换能器。 数据由具有连接在放大器反馈路径中的换能器的运算放大器来操作。 通过使用用于在所需模式的频率下谐振驱动换能器的输入电容的电感器和增益带宽来实现通过限制运算放大器在换能器的整个响应带中的增益的保证 运算放大器的极限。 该数据以适合于触摸感测的超声波频率起作用，并且因此当切割器被触摸到基准时在触摸感测系统中产生响应。 响应提供了参考机床坐标系的刀具位置的精确指示以及用于系统测试校准的测试信号。

公开(公告)号：US4404507A

公开(公告)日：1983-09-13

申请号：US324671

申请日：1981-11-24

申请人： Stanley K. Dean ,  Robert Dow

发明人： Stanley K. Dean ,  Robert Dow

IPC分类号： G05B19/40 ,  G05B19/4103 ,  G05B19/24

CPC分类号： G05B19/40 ,  G05B19/4103 ,  G05B2219/33099 ,  G05B2219/33182 ,  G05B2219/34087 ,  G05B2219/34098 ,  G05B2219/34187 ,  G05B2219/34215 ,  G05B2219/35439 ,  G05B2219/36383

摘要： There is disclosed a method of controlling, and a control system for, an apparatus, such as a machine tool (100), for forming a straight configured contour, or a straight configured segment forming part of a curvilinear contour, and having co-ordinates in at least two directions (X, Y and Z), said apparatus incorporating a work piece support (102), a contour forming means, such as a milling cutter (107), incremental drives (M.sub.X, M.sub.Y and M.sub.Z) to effect relative movement between said support (102) and said milling cutter (107) in said directions, and involving determining the components of said contour or segment in said directions (X, Y and Z) as a number of increments of length equal to a predetermined distance, providing a continuous feed of input pulses in a computer (S B C), continuously counting in the S B C, in respect of each said direction, a predetermined number of input pulses in the ratio of the inverses of said number of increments, and subsequently feeding via motor control (MCB) and motor drive (MDB) boards,(i) a drive pulse to one of said incremental drives (M.sub.X, M.sub.Y or M.sub.Z) to effect movement in one of said direct directions (X, Y or Z) over said predetermined distance each time the predetermined number of input pulses relevant to that direction have been counted, and(ii) a drive pulse to at least one other of said incremental drives (M.sub.X, M.sub.Y or M.sub.Z) to effect movement in one other of said directions (X, Y or Z) over the same predetermined distance each time the predetermined number of input pulses relevant to that direction have been counted,whereby said movements combine to form a relative movement between said support (102) and said milling cutter (107) such as to produce said contour or said segment.

摘要翻译： 公开了一种用于形成直线构造轮廓的装置，例如机床（100）的控制和控制系统的方法，或形成曲线轮廓的一部分的直线构造段，并且具有坐标 在至少两个方向（X，Y和Z）上，所述装置包括工件支撑件（102），轮廓形成装置，例如铣刀（107），增量驱动器（MX，MY和MZ） 在所述方向上在所述支撑件（102）和所述铣刀（107）之间的运动，并且涉及将所述方向（X，Y和Z）上的所述轮廓或段的分量确定为等于预定距离的长度增量 在计算机（SBC）中连续馈送输入脉冲，在SBC中相对于每个所述方向连续计数预定数量的输入脉冲，其中所述增量数量的反转比例，以及随后的通过 电机控制（M CB）和马达驱动器（MDB）板，（i）到所述增量驱动器（MX，MY或MZ）之一的驱动脉冲，以在所述直接方向（X，Y或Z）中的一个上移动所述预定距离 已经计数与该方向相关的预定数量的输入脉冲，并且（ii）到所述增量驱动器（MX，MY或MZ）中的至少另一个的驱动脉冲，以实现所述方向（X， Y或Z），每当与该方向相关的预定数量的输入脉冲被计数时，相同的预定距离，由此所述运动组合以形成所述支撑件（102）和所述铣刀（107）之间的相对运动， 产生所述轮廓或所述段。

公开(公告)号：US4403281A

公开(公告)日：1983-09-06

申请号：US250908

申请日：1981-04-03

申请人： John G. Holmes ,  Brian J. Resnick

发明人： John G. Holmes ,  Brian J. Resnick

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/4093 ,  G05B19/42 ,  G06F15/46 ,  G05B19/24

CPC分类号： G05B19/42 ,  B25J9/161 ,  B25J9/1692 ,  G05B2219/36417 ,  G05B2219/45135 ,  G05B2219/45187 ,  G05B2219/50167

摘要： An apparatus is disclosed for modifying the motion of a tool centerpoint associated with the function element of a robot arm. The motion to be modified is produced during an automatic mode of operation in which the tool centerpoint travels along predetermined paths between programmed points at a programmed velocity. The apparatus is effective to modify the motion during the automatic mode in response to sensed deviations from the predetermined path. Two alternative schemes of modifying the motion are disclosed. A first alternative scheme returns the tool centerpoint to the predetermined path before it reaches the programmed point defining the end of the path. A second alternative scheme produces a new end point offset from the programmed end point and effects motion along offset paths which are translated and rotated from the predetermined paths defined by the programmed points. Both schemes are suitable for effecting modification of motion in response to deviations which are commanded manually by an operator or automatically by equipment monitoring the workpiece processing effected by the function element.

摘要翻译： 公开了一种用于修改与机器人手臂的功能元件相关联的工具中心点的运动的装置。 待修改的运动是在自动操作模式下产生的，其中工具中心点以编程速度沿编程点之间的预定路径行进。 该装置响应于感测到的与预定路径的偏差而有效地在自动模式期间修改运动。 公开了修改运动的两种替代方案。 第一个替代方案是在工具中心点到达定义路径末端的编程点之前将工具中心点返回到预定路径。 第二替代方案产生从编程终点的新的终点偏移并且沿着沿着由编程点定义的预定路径平移和旋转的偏移路径产生运动。 这两种方案适用于响应由操作者手动指定的偏差或通过监视由功能元件执行的工件处理的设备自动地实现运动的修改。

公开(公告)号：US4386306A

公开(公告)日：1983-05-31

申请号：US204716

申请日：1980-11-06

申请人： Hideo Nishimura ,  Minoru Enomoto

发明人： Hideo Nishimura ,  Minoru Enomoto

IPC分类号： G05B19/19 ,  G05B19/23 ,  G05B19/4062 ,  G05B19/24

CPC分类号： G05B19/232 ,  G05B19/4062 ,  G05B2219/42309

摘要： A numerical control device for controlling rotation of a servomotor in response to numerical control data to move a movable member by a commanded feed amount at a commanded feed rate. A velocity detector detects an actual feed rate of the movable member. A register stores an allowable feed rate data. A comparator compares an allowable feed rate data from the register and an actual feed rate from the velocity detector to output an abnormal signal when the actual feed rate exceeds the allowable feed rate. The allowable feed rate data is set into the register each time the commanded feed rate is changed.

摘要翻译： 一种用于响应于数字控制数据控制伺服电机的旋转的数字控制装置，以通过指令的进给速度的指令进给量移动可动构件。 速度检测器检测可动件的实际进给速度。 寄存器存储允许的进给速率数据。 当实际进给速率超过允许进给速率时，比较器比较来自寄存器的允许进给速率数据和来自速度检测器的实际进给速率，以输出异常信号。 每当指令进给速率改变时，允许的进给速率数据被设置到该寄存器中。

公开(公告)号：US4321516A

公开(公告)日：1982-03-23

申请号：US168769

申请日：1980-07-11

申请人： Tsutomu Ohtsuka

发明人： Tsutomu Ohtsuka

IPC分类号： G01P3/42 ,  B23Q5/10 ,  G05B19/23 ,  G05D3/12 ,  H02P21/00 ,  H02P27/04 ,  G05B19/24

CPC分类号： B23Q5/10 ,  G05B19/232 ,  G05B2219/37154 ,  G05B2219/37313 ,  G05B2219/41409 ,  G05B2219/42104 ,  G05B2219/49273

摘要： A spindle of a machine tool driven by an induction motor is controlled by a torque control system including a pulse generator coupled to the spindle, a reversible counter which counts the number of pulses, a first register connected to receive an output signal of the counter via sampling gate. The data in the first register is transferred to a second register and difference between data in the first and second registers is calculated by a calculator in the form of a register. An input device delivers a speed instruction signal and an angular position instruction signal which is added to an output signal of the first register to form a position instruction signal. A computation unit is provided to calculate respective phase currents of the induction motor in response to the speed instruction signal or the position error signal for continuously controlling motor torque or position the spindle at an instructed angular position.

摘要翻译： 由感应电动机驱动的机床的主轴由转矩控制系统控制，该转矩控制系统包括耦合到主轴的脉冲发生器，对脉冲数进行计数的可逆计数器，连接以接收计数器通过的输出信号的第一寄存器 采样门。 第一寄存器中的数据被传送到第二寄存器，并且由寄存器形式的计算器计算第一和第二寄存器中的数据之间的差异。 输入装置传送速度指令信号和加到第一寄存器的输出信号上的角位置指令信号，以形成位置指令信号。 提供计算单元以响应于速度指令信号或位置误差信号计算感应电动机的相电流，用于连续控制电动机转矩或将主轴定位在指示的角位置。