公开(公告)号：US5129044A

公开(公告)日：1992-07-07

申请号：US316696

申请日：1989-02-28

申请人： Kunio Kashiwagi ,  Toru Kurenuma ,  Shinsaku Tsutsui ,  Kazuyoshi Yamada

发明人： Kunio Kashiwagi ,  Toru Kurenuma ,  Shinsaku Tsutsui ,  Kazuyoshi Yamada

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/416

CPC分类号： B25J9/1633 ,  G05B19/4163 ,  G05B2219/37357

摘要： The position/force of a machine tool or robot end effecter having at least two degrees of freedom of movement is controlled. A first setting device sets the position command and/or posture command of the working tool on a machine. The instant position and/or posture of the working tool is detected. The force command and/or moment command for commanding the force and/or moment to be applied to the working tool is set, and the instant force and/or moment acting on the working tool is detected. A computing device determines from the position command and/or posture command and the instant position and/or posture, the position and/or posture offset in terms of the coordinate values of an operation coordinate system. A second computing device determines from the force command and/or moment command and the instant force and/or instant moment, force and/or moment offset in terms of the coordinate values of the operation coordinate system. Position/force computation for the control of the position of and the force on the working tool is computed from the position and/or posture offset and the force and/or moment offset in terms of the coordinate values of the operation coordinate system, thereby determining the amount of control to be effected on the working machine.

公开(公告)号：US4987356A

公开(公告)日：1991-01-22

申请号：US421371

申请日：1989-10-13

申请人： Kazuyoshi Yamada ,  Kunio Kashiwagi ,  Tooru Kurenuma

发明人： Kazuyoshi Yamada ,  Kunio Kashiwagi ,  Tooru Kurenuma

IPC分类号： B23Q35/12 ,  B25J9/16 ,  B25J9/18 ,  G05B19/41

CPC分类号： G05B19/41 ,  B25J9/1684 ,  G05B2219/37357 ,  G05B2219/45151 ,  G05B2219/49362

摘要： A profiling control system for a multiple-degree-of-freedom working machine having at least two degrees of freedom has at least one force control loop. The control loop has a detector for detecting the force applied to a working tool from a work surface, an error detector for determining the difference between the detected force and a command f.sub.ro of urging force of the working took, a processor for computing a velocity command u.sub.z of the working tool on the basis of the determined error, a drive system for moving the multiple-degree-of-freedom working machine on the basis of the velocity command. Further, the multiple-degree-of-freedom working machine is moved on the basis of a velocity command u.sub.x. The control system provides a moving velocity v.sub.zof in an urging direction of the working tool, which occurs as the result of a gradient tan .alpha. of the work surface with respect to a feed direction when the working tool is fed with the velocity command u.sub.x and while the working tool is urged against the work surface with the force command f.sub.ro. Also, a controlled variable, either f.sub.ro or u.sub.z of the force control loop is corrected by using the moving velocity v.sub.zof in the urging direction, thereby canceling the force f.sub.of due to the velocity v.sub.zof.