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    Positioning control system
    1.
    发明授权
    Positioning control system 失效
    定位控制系统

    公开(公告)号：US4578748A

    公开(公告)日：1986-03-25

    申请号：US427926

    申请日：1982-09-29

    申请人： Riichi Abe ,  Katsuji Tsuruta ,  Seiji Tsujikado

    发明人： Riichi Abe ,  Katsuji Tsuruta ,  Seiji Tsujikado

    IPC分类号： G05B19/23 ,  G05B11/18

    CPC分类号： G05B19/232 ,  G05B2219/33083 ,  G05B2219/42213 ,  G05B2219/42215 ,  G05B2219/43194 ,  G05B2219/50025

    摘要： A positioning control system wherein variations in the robot coasting distance are substantially eliminated by stopping the command pulse signals simultaneously with a generation of the origin pulse signal from the incremental encoder. The deviation between the final robot position and the origin is minimized by driving the motor in its backward direction to back up the robot by an amount approximately equal to the coasting distance. The robot moving distance during the time period from the beginning of origin return operation (i.e., backup) to a generation of the first spike in the origin pulse signal after beginning backup to the above first stoppage of the robot is found. If the found distance is different from the coasting distance then this difference is handled as an error.In one aspect of the present invention, the number of spikes appearing in the output pulse signal from the incremental encoder can be easily increased as necessary to thereby improve the resolution power of the incremental encoder. Further, much more precise positioning control can be realized by synchronizing the output pulse signal of the incremental encoder with the clock signal of the microcomputer.

    摘要翻译： 一种定位控制系统，其中通过与来自增量式编码器的原始脉冲信号的产生同时停止指令脉冲信号，基本上消除了机器人惯性距离的变化。 最后的机器人位置和原点之间的偏差通过驱动马达向后的方向来使机器人的后退大约等于滑行距离的最小化。 发现在从原点开始返回操作（即，备份）到开始备份到机器人的上述第一停止之后的原点脉冲信号中的第一尖峰的生成的机器人移动距离。 如果找到的距离与惯性距离不同，则该差异被作为误差来处理。 在本发明的一个方面，可以根据需要容易地增加出现在来自增量编码器的输出脉冲信号中的尖峰数，从而提高增量编码器的分辨率。 此外，通过将增量编码器的输出脉冲信号与微计算机的时钟信号同步，可以实现更精确的定位控制。