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公开(公告)号：US11909339B2
公开(公告)日：2024-02-20
申请号：US17798110
申请日：2021-02-25
Applicant: SINFONIA TECHNOLOGY CO., LTD.
Inventor： Yoji Masui
Abstract: In a resonance suppression control device that controls suppression of vibrations in a resonance frequency in each vibration mode of a control target having a plurality of vibration modes, a configuration that is simple, and can suppress vibrations in a resonance frequency in the plurality of vibration modes is provided. A control device is a resonance suppression control device that controls suppression of vibrations in a resonance frequency in each vibration mode of a control target having a plurality of vibration modes. The control device includes a plurality of feedback loops that provide negative feedback of output of the control target corresponding to the plurality of vibration modes to an input side. The plurality of feedback loops respectively include band-pass filters that extract one or more vibration modes from the plurality of vibration modes, phase compensators, and amplitude adjusters. The band-pass filters and the phase compensators function as differentiators.
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公开(公告)号：US11366432B2
公开(公告)日：2022-06-21
申请号：US16804678
申请日：2020-02-28
Applicant: SINFONIA TECHNOLOGY CO., LTD.
Inventor： Yoji Masui
Abstract: A dead time estimation device capable of accurately estimating a dead time in a control system is provided. A dead time estimation device 6 includes a dead time calculation section 64 configured to obtain a dead time L{circumflex over ( )}′1 with which an evaluation function J in Equation (1) is at minimum [Equation 7] J=∫|Ĝ/e−{circumflex over (L)}′1s−Ĝ′|df (1) where G{circumflex over ( )}/e−L∧′1s is a frequency characteristic of an element from which a dead time element is removed from a transfer function of a control target P and G{circumflex over ( )}′ is a transfer function not including the dead time element in the control target P.
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公开(公告)号：US09579794B2
公开(公告)日：2017-02-28
申请号：US14798673
申请日：2015-07-14
Applicant: SINFONIA TECHNOLOGY CO., LTD.
Inventor： Yoji Masui , Toru Saeki
IPC: G06F19/00 , B25J9/16 , H01L21/677
CPC classification number: B25J9/1664 , G05B2219/40431 , G05B2219/50111 , H01L21/67766 , Y10S901/02
Abstract: An articulated robot comprises a control unit including: a track information storage unit which stores track information corresponding to a combination of a start point and an end point; a setting unit which sets a current position and a target position of an arm distal end as the start point and the end point; and an operation command generation unit which generates an operation command based on track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.
Abstract translation: 铰接机器人包括：控制单元，包括：轨道信息存储单元，其存储对应于起点和终点的组合的轨道信息; 设定单元，其将臂前端的当前位置和目标位置设定为起点和终点; 以及操作命令生成单元，其基于与设定的开始点和设定的终点（对应的轨道信息）的组合相对应的轨道信息来生成操作命令。 如果没有存储对应的轨道信息，则与轨迹信息存储单元中存储与设定的开始点和设定的终点的组合具有预定关系的起始点和终点的组合相对应的相关轨迹信息， 操作命令生成单元基于相关的轨道信息生成操作命令。
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公开(公告)号：US20160184987A1
公开(公告)日：2016-06-30
申请号：US14798673
申请日：2015-07-14
Applicant: SINFONIA TECHNOLOGY CO., LTD.
Inventor： Yoji Masui , Toru Saeki
CPC classification number: B25J9/1664 , G05B2219/40431 , G05B2219/50111 , H01L21/67766 , Y10S901/02
Abstract: An articulated robot comprises a control unit including: a track information storage unit which stores track information corresponding to a combination of a start point and an end point; a setting unit which sets a current position and a target position of an arm distal end as the start point and the end point; and an operation command generation unit which generates an operation command based on track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.
Abstract translation: 铰接机器人包括：控制单元，包括：轨道信息存储单元，其存储对应于起点和终点的组合的轨道信息; 设定单元，其将臂前端的当前位置和目标位置设定为起点和终点; 以及操作命令生成单元，其基于与设定的开始点和设定的终点（对应的轨道信息）的组合相对应的轨道信息来生成操作命令。 如果没有存储对应的轨道信息，则与轨迹信息存储单元中存储与设定的开始点和设定的终点的组合具有预定关系的起始点和终点的组合相对应的相关轨迹信息， 操作命令生成单元基于相关的轨道信息生成操作命令。
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