公开(公告)号：US4714400A

公开(公告)日：1987-12-22

申请号：US851509

申请日：1986-04-14

申请人： Joseph A. Barnett ,  Joseph M. Gomez ,  William F. Green ,  Vincent M. Lisica ,  Arnold B. Rosenthal

发明人： Joseph A. Barnett ,  Joseph M. Gomez ,  William F. Green ,  Vincent M. Lisica ,  Arnold B. Rosenthal

IPC分类号： B25J5/00 ,  G05B19/18 ,  G05B19/23 ,  B25J9/02

CPC分类号： G05B19/232 ,  G05B2219/37296 ,  G05B2219/37538 ,  G05B2219/41021 ,  G05B2219/41195 ,  G05B2219/41337 ,  G05B2219/50228

摘要： A robotic system includes two joints moving a common load-bearing member along a path for positioning a load. Each joint includes a linear electric motor and a feedback loop, the latter driving the motor accurately in response to a commanded position signal, and a true position signal provided by sensor apparatus disposed alongside a track of each linear motor. Cross-coupling circuitry connects with the sensor apparatus of each joint to produce signals representing differences in positional error and in speed of the joints. The signals are injected into the feedback loops of the joints to effect a shift of power between the joints to synchronize their travel. Window comparator circuitry is employed for introduction of variable gains to the feedback loops for values of positional error and velocity which are greater than reference values in a window. Simultaneous injection of phase lead angle to the electric motors is employed for transition to a high speed mode while retaining synchronized operation of the motors.

摘要翻译： 机器人系统包括两个接头，沿着用于定位负载的路径移动公共承载构件。 每个接头包括线性电动机和反馈回路，后者响应于指令位置信号精确地驱动电动机，以及由每个线性电动机的轨道旁边设置的传感器装置提供的真实位置信号。 交叉耦合电路与每个接头的传感器装置连接，以产生表示接头位置误差和速度差异的信号。 信号被注入到接头的反馈环中，以实现接头之间的功率偏移以使其行进同步。 窗口比较器电路用于将反馈回路的可变增益引入到位于窗口中大于参考值的位置误差和速度值。 同时向电动机注入相角，用于过渡到高速模式，同时保持电动机的同步运行。