公开(公告)号：US06253120B1

公开(公告)日：2001-06-26

申请号：US09067842

申请日：1998-04-27

申请人： Akira Shimada ,  Yoshinobu Ohtachi ,  Tsutomu Mita

发明人： Akira Shimada ,  Yoshinobu Ohtachi ,  Tsutomu Mita

IPC分类号： G05B1500

CPC分类号： G05B19/19 ,  B24B27/04 ,  B25J9/1646 ,  B25J11/0065 ,  G05B13/047 ,  G05B2219/39224 ,  G05B2219/39322 ,  G05B2219/39341 ,  G05B2219/42353 ,  Y02P90/265

摘要： An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane &sgr; which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane &sgr;. In this case, even if the uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.

摘要翻译： 存在于控制系统中的交互项目是基于去耦矩阵的规则条件去耦合的。 然后，设计了已经获得满足Lyapunov稳定条件的超平面sigma。 控制量沿着超平面sigma收敛。 在这种情况下，即使在用于连接待控制对象的状态变量x（t）和输出y（t）的C矩阵中产生不确定性，也可以收敛控制量，同时始终满足Lyapunov 稳定条件。 当在C矩阵中不存在不确定性以满足Lyapunov稳定条件时，在控制系统中使用的非线性输入增益ki（x，t）被设计为大于预定值。 此外，基于滑动模式解耦控制的控制输入信号通过雅可比转换为铰接转矩。 此外，对于控制输入信号，向其添加非线性力的反向动力学。

公开(公告)号：US07120530B2

公开(公告)日：2006-10-10

申请号：US10743407

申请日：2003-12-23

申请人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

发明人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

IPC分类号： G06F7/00

CPC分类号： G05B13/0205 ,  F16H61/0403 ,  F16H61/2807 ,  F16H61/32 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356 ,  Y10T477/60

摘要： A low cost control apparatus of a contact mechanism resolving a disadvantage caused when a contact body is moved to make contact with a contacted body by an actuator. A synchronizing mechanism, which a coupling sleeve rotatably and integrally provided with an input shaft is pushed against a synchronizer ring disposed between the coupling sleeve and a synchronized gear, thereby synchronizing rotational speeds of both the components to engage them, is modeled as a collision between an inertia system object and an elastic system object. A computation coefficient (VPOLE, f in FIG. 9) of a switching function for sliding mode control having a deviation between an actual position of the coupling sleeve (Psc, d in FIG. 9) and a target position (Psc_cmd, e in FIG. 9) as a state variable is changed depending on the actual position (Psc), and thereby changing a control ability of the model against a disturbance.

摘要翻译： 一种接触机构的低成本控制装置，其解决当接触体移动以通过致动器与接触体接触时所引起的缺点。 同步机构，其可旋转地并且整体地设置有输入轴的联接套筒被推压抵靠设置在联接套筒和同步齿轮之间的同步器环，从而同步两个部件的旋转速度以使其接合，被建模为 惯性系统对象和弹性系统对象。 具有耦合套筒的实际位置（图9中的Psc，d）与目标位置（图9中的Psc_cmd，e）之间的偏移的滑动模式控制的切换功能的计算系数（图9中的VPOLE，f） 9）作为状态变量根据实际位置（Psc）而变化，从而改变模型对干扰的控制能力。

公开(公告)号：US07071638B2

公开(公告)日：2006-07-04

申请号：US10743464

申请日：2003-12-23

申请人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

发明人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

IPC分类号： H02K41/00

CPC分类号： G05B13/0205 ,  F16H59/68 ,  F16H61/0403 ,  F16H61/28 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356

摘要： An actuator control apparatus is provided, capable of causing a state value which changes according to the action of an actuator to match a prescribed target value. A synchronizing mechanism is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve, and in a process until the coupling sleeve engages a synchronized gear, is set such that the pressing force of the coupling sleeve matches a target pressing force.

摘要翻译： 提供了一种致动器控制装置，其能够使根据致动器的动作而变化的状态值与规定的目标值相匹配。 同步机构被建模为惯性系统对象和弹性系统对象的碰撞，并且以状态量作为耦合套筒的实际位置（Psc）与目标位置（Psc_cmd）之间的偏差，计算系数（ 在作为变量的状态量的滑动模式控制中使用的切换功能的开关功能在直到联接套筒与同步器环接触的第一过程中，根据联接套筒的实际位置（Psc）设定， 并且在直到联接套筒接合同步齿轮的过程中，被设定为使得联接套筒的按压力与目标按压力匹配。

公开(公告)号：US20110257787A1

公开(公告)日：2011-10-20

申请号：US13169731

申请日：2011-06-27

申请人： Takashi SATO ,  Takahiro IWATAKE

发明人： Takashi SATO ,  Takahiro IWATAKE

IPC分类号： B25J13/08 ,  B25J19/02

CPC分类号： B25J9/1638 ,  B25J9/1633 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/39319 ,  G05B2219/39341 ,  G05B2219/39343

摘要： A robot control apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value.

摘要翻译： 机器人控制装置包括用于获取控制操作所需的力数据的力测量单元，用于计算由重力施加在力测量单元上的力和由机器人手臂运动产生的动态项的计算单元 从作业工具施加在力测量单元上的力，补偿单元，用于补偿由力测量单元使用由重力施加的力所测量的力，以及由计算单元计算的动态项;以及指令调节单元， 在每个动态项大于预定阈值的情况下，通过动态项和重力根据施加在力测量单元上的力的机器人手臂的操作命令。

公开(公告)号：US20040138801A1

公开(公告)日：2004-07-15

申请号：US10743407

申请日：2003-12-23

申请人： HONDA MOTOR CO., LTD

发明人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

IPC分类号： G06F019/00

CPC分类号： G05B13/0205 ,  F16H61/0403 ,  F16H61/2807 ,  F16H61/32 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356 ,  Y10T477/60

摘要： A low cost control apparatus of a contact mechanism resolving a disadvantage caused when a contact body is moved to make contact with a contacted body by an actuator. A synchronizing mechanism, which a coupling sleeve rotatably and integrally provided with an input shaft is pushed against a synchronizer ring disposed between the coupling sleeve and a synchronized gear, thereby synchronizing rotational speeds of both the components to engage them, is modeled as a collision between an inertia system object and an elastic system object. A computation coefficient (VPOLE, f in FIG. 9) of a switching function for sliding mode control having a deviation between an actual position of the coupling sleeve (Psc, d in FIG. 9) and a target position (Psc_cmd, e in FIG. 9) as a state variable is changed depending on the actual position (Psc), and thereby changing a control ability of the model against a disturbance.

摘要翻译： 一种接触机构的低成本控制装置，其解决当接触体移动以通过致动器与接触体接触时所引起的缺点。 同步机构，其可旋转地并且整体地设置有输入轴的联接套筒被推压抵靠设置在联接套筒和同步齿轮之间的同步器环，从而同步两个部件的旋转速度以使其接合，被建模为 惯性系统对象和弹性系统对象。 具有耦合套筒的实际位置（图9中的Psc，d）与目标位置（图9中的Psc_cmd，e）之间的偏移的滑动模式控制的切换功能的计算系数（图9中的VPOLE，f） 9）作为状态变量根据实际位置（Psc）而变化，从而改变模型对干扰的控制能力。

公开(公告)号：US20080140257A1

公开(公告)日：2008-06-12

申请号：US11951457

申请日：2007-12-06

申请人： Takashi SATO ,  Takahiro IWATAKE

发明人： Takashi SATO ,  Takahiro IWATAKE

IPC分类号： B25J13/08 ,  B25J19/02

CPC分类号： B25J9/1638 ,  B25J9/1633 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/39319 ,  G05B2219/39341 ,  G05B2219/39343

摘要： A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.

摘要翻译： 公开了一种用于控制施加在安装在机器人臂的前端的工作工具与工件之间的力的机器人控制装置。 该装置包括用于获取控制操作所需的力数据的力测量单元，用于计算由重力施加在力测量单元上的力和由机器人手臂的运动产生的动态项的计算单元，所有力 施加在力测量单元上的补偿单元，补偿单元，用于补偿由力测量单元使用由重力施加的力所测量的力和由计算单元计算的动态项;以及指令调整单元，用于调整操作指令 在每个动态项大于预定阈值的情况下，根据通过动态项和重力来施加在力测量单元上的力的机器人手臂。 结果，即使在机器人手臂的前端部在其移动方向上相对较大程度地变化的情况下，也能够精确地加工工件。

公开(公告)号：US20040145321A1

公开(公告)日：2004-07-29

申请号：US10743464

申请日：2003-12-23

申请人： HONDA MOTOR CO., LTD.

发明人： Yuji Yasui ,  Kanako Shimojo ,  Eijiro Shimabukuro

IPC分类号： H02P005/00

CPC分类号： G05B13/0205 ,  F16H59/68 ,  F16H61/0403 ,  F16H61/28 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356

摘要： An actuator control apparatus is provided, capable of causing a state value which changes according to the action of an actuator to match a prescribed target value. A synchronizing mechanism is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve, and in a process until the coupling sleeve engages a synchronized gear, is set such that the pressing force of the coupling sleeve matches a target pressing force.

摘要翻译： 提供了一种致动器控制装置，其能够使根据致动器的动作而变化的状态值与规定的目标值相匹配。 同步机构被建模为惯性系统物体和弹性系统物体的碰撞，并且将作为状态量的耦合套筒的实际位置（Psc）与目标位置（Psc_cmd）之间的偏差，计算系数（ 在作为变量的状态量的滑动模式控制中使用的切换功能的开关功能在直到联接套筒与同步器环接触的第一过程中，根据联接套筒的实际位置（Psc）设定， 并且在直到联接套筒接合同步齿轮的过程中，被设定为使得联接套筒的按压力与目标按压力匹配。