公开(公告)号：US06295484B1

公开(公告)日：2001-09-25

申请号：US09424561

申请日：1999-11-24

申请人： Masao Ojima ,  Hirokazu Kariyazaki ,  Hidenori Tomisaki

发明人： Masao Ojima ,  Hirokazu Kariyazaki ,  Hidenori Tomisaki

IPC分类号： G06F1900

CPC分类号： B25J9/163 ,  B25J9/1633 ,  B25J9/1641 ,  G05B19/19 ,  G05B2219/39186 ,  G05B2219/39326 ,  G05B2219/39353 ,  G05B2219/39355 ,  G05B2219/41195 ,  G05B2219/41398 ,  G05B2219/41443 ,  G05B2219/42156

摘要： When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.

摘要翻译： 当具有在各轴的电动机和机器人臂之间具有弹簧元件的机构的多轴机器人被控制时，刀尖的路径精度增加，而不会引起轴之间的机械干扰和电动机的高频振动产生的振动。 向模型控制器（1）提供相对于电动机的位置指令Xref-L，Xref-U，并输出模型电动机位置指令θMm-L，θMm-U，模型电动机速度指令{dot over（theta）} Mm -L，{dot over（θ）} Mm-U，以及模型前馈命令UFF-L，UFF-U到启动和控制电动机和机器人臂的反馈控制器（10L，10U）。 考虑到作用在来自其他轴的轴之间的干涉力以消除干扰力，模型控制器（1）包括用于计算校正量（校正转矩）的校正量计算器（3L，3U）。 模型控制器（1）输出模型前馈命令与添加的校正量。

公开(公告)号：US6069463A

公开(公告)日：2000-05-30

申请号：US930448

申请日：1997-09-29

申请人： Nobuhiro Umeda ,  Ryuichi Oguro ,  Masao Ojima

发明人： Nobuhiro Umeda ,  Ryuichi Oguro ,  Masao Ojima

IPC分类号： B25J9/12 ,  B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/404 ,  G05B19/408

CPC分类号： B25J9/1641 ,  G05B2219/41195

摘要： A controller is provided for a multi-axis robot having at least first and second axis assemblies, the first and second axis assemblies each having an arm, a servomotor driven by a control input and a coupling in the form of a decelerator, which includes a spring element, coupling the servomotor and the arm, the second axis assembly being disposed at an end of the arm of the first axis assembly. The controller includes the first and second axis assemblies each including torsional angle detector for detecting a torsional angle of a respective one of the couplings. A dynamic coupling calculator calculates coupling parameters of the couplings. The first and second axis assemblies each include a semi-closed loop. A processor calculates first interaction forces and second interaction forces wherein the first interaction forces are forces generated on the arm of each of the first and second axis assemblies axis by another of the first and second axis assemblies, and the second interaction forces are generated by input, included in control inputs of the servomotors, from a respective one of the semi-closed loops due to the first interaction forces of the other of the first and second axis assemblies. A correction controller calculates a correction torque for each of the first and second axis assemblies to compensate the first interaction forces and the second interaction forces and adds the correction torque to the control input of the respective one of the first and second axis assemblies.

摘要翻译： PCT No.PCT / JP97 / 00421 Sec。 371日期：1997年9月29日 102（e）1997年9月29日PCT PCT 1997年2月17日提交PCT公布。 公开号WO97 / 31303 PCT。 日期1997年8月28日为具有至少第一和第二轴组件的多轴机器人提供控制器，第一和第二轴组件各自具有臂，由控制输入驱动的伺服电动机和以 减速器，其包括联接伺服电机和臂的弹簧元件，第二轴组件设置在第一轴组件的臂的端部。 控制器包括第一和第二轴组件，每个组件包括用于检测相应一个联接器的扭转角的扭转角检测器。 动态耦合计算器计算耦合的耦合参数。 第一和第二轴组件各自包括半闭环。 处理器计算第一相互作用力和第二相互作用力，其中第一相互作用力是通过第一和第二轴组件中的另一个轴在第一和第二轴组件轴线的臂上产生的力，并且第二相互作用力由输入 包括在伺服电机的控制输入中，由于第一和第二轴组件中的另一个的第一相互作用力而从相应的一个半闭合回路中。 校正控制器计算每个第一和第二轴组件的校正扭矩以补偿第一相互作用力和第二相互作用力，并将校正转矩加到第一和第二轴组件中相应一个的组件的控制输入端。

公开(公告)号：US4890186A

公开(公告)日：1989-12-26

申请号：US310673

申请日：1989-02-14

申请人： Chiaki Matsubara ,  Hirokuni Ishikawa ,  Masao Ojima

发明人： Chiaki Matsubara ,  Hirokuni Ishikawa ,  Masao Ojima

IPC分类号： H01H9/10 ,  H01H37/76 ,  H01H87/00

CPC分类号： H01H87/00 ,  H01H9/106

摘要： In the past, a power fuse need be replaced after the current limiting operation and cannot be repeatedly used. To solve this problem, there has been proposed a permanent fuse or the like which uses an alkaline metal having a low melting point such as Hg, K, Na, etc.These are harmful to human body, and since they are completely vaporized, an insulated layer of a vessel cannot be removed, thus giving rise to a difficulty toward higher voltage.The present invention makes best use of characteristic of carbon which sublimates. A plurality of boundary layers of carbon lumps are disposed in series or in series and parallel, and electrode potential drops at the time of large current and potential drops of arc column under high atmosphere presssure which produces for a short period of time are utilized to effect current limiting.Despite the fact that materials used comprise carbon, they are harmless to human body, and since the potential drop is utilized, a large insulated layer of the vessel can be used to facilitate the formation of higher voltage. Since the carbon lumps are not fused, repeatable use becomes possible.

摘要翻译： 在过去，电流保险丝需要在限流操作后更换，不能重复使用。 为了解决这个问题，已经提出了使用具有低熔点的碱金属如Hg，K，Na等的永久熔断器等。这些对人体有害，并且由于它们完全蒸发， 容器的绝缘层不能被去除，从而导致更高电压的困难。 本发明最好地利用升华的碳的特性。 碳块的多个边界层串联或串联并联设置，并且在大电流时的电极电位下降以及在短时间内产生的高气压压力下的电弧柱的电位下降被用来实现 电流限制。 尽管使用的材料包括碳，但它们对人体是无害的，并且由于使用了电位降，所以可以使用容器的大绝缘层来促进形成更高的电压。 由于碳块不融合，因此可以重复使用。