公开(公告)号：US08872064B2

公开(公告)日：2014-10-28

申请号：US11707153

申请日：2007-02-16

申请人： Takashi Ono ,  Souichi Toyama ,  Yaichi Okubo ,  Hiromu Hirai

发明人： Takashi Ono ,  Souichi Toyama ,  Yaichi Okubo ,  Hiromu Hirai

IPC分类号： B23K26/00 ,  G05B13/02 ,  G05B11/18 ,  G05B19/23

CPC分类号： G05B19/231 ,  G05B2219/41029 ,  G05B2219/41127 ,  G05B2219/45139

摘要： A positioning control system for positioning a moving element on a basis of position command data is provided with a feedback loop. The system is also provided with a loop gain modifier for determining a loop gain, which is to be used in a following positioning operation, on a basis of a difference between an amount of overshoot measured in a current positioning operation and a predetermined tolerance or on a basis of a difference between an amount of overshoot measured in a current positioning operation and a first predetermined tolerance and a difference between an amount of undershoot measured in the current positioning operation and a second predetermined tolerance. The first and second tolerances may preferably be the same in absolute value. The moving element may specifically be a steerable mirror for drilling holes in a work by reflecting a laser beam. Also disclosed is a laser drilling machine including the system.

摘要翻译： 基于位置指令数据定位移动元件的定位控制系统具有反馈回路。 该系统还设置有环路增益修正器，用于基于在当前定位操作中测量的过冲量与预定公差之间的差异或者在预定公差上基于在随后的定位操作中使用的环路增益来确定环路增益， 在当前定位操作中测量的过冲量与第一预定公差之间的差异与在当前定位操作中测量的下冲量之差与第二预定公差之间的差的基础。 第一和第二公差可以优选地具有相同的绝对值。 移动元件可以具体地是用于通过反射激光束在工件中钻孔的可操纵镜。 还公开了一种包括该系统的激光钻孔机。

公开(公告)号：US08527092B2

公开(公告)日：2013-09-03

申请号：US12601745

申请日：2008-05-07

申请人： Jens Hacker ,  Bjoern Schoell ,  Alexander Meissner

发明人： Jens Hacker ,  Bjoern Schoell ,  Alexander Meissner

IPC分类号： G05B19/04 ,  G05B19/18

CPC分类号： B25J9/1641 ,  G05B2219/39181 ,  G05B2219/39186 ,  G05B2219/41127 ,  G05B2219/41443 ,  G05B2219/41448

摘要： A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and/or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values. The axis-related controllers are actuated with at least corrected axis coordinates.

摘要翻译： 预定的机器人路径包括由空间坐标定义的多个路径点。 各个路径点的空间坐标根据反向机器人运动学转换为相应的轴坐标，轴坐标表示各个机器人轴在各个路径点的位置。 根据转换的轴坐标，针对各个机器人轴启动与轴相关的控制器。 至少与相关的轴相关的控制器可以在单独的机器人轴上与轴相关的驱动电机启动。 根据动态机器人模型确定机器人路径上的各个路径点的路径校正值，路径校正值考虑机器人的弹性，摩擦和/或惯性。 针对各个路径点和路径校正值的未校正轴坐标的各路径点确定校正轴坐标。 轴相关控制器至少被校正的轴坐标启动。

公开(公告)号：US5420490A

公开(公告)日：1995-05-30

申请号：US120753

申请日：1993-09-15

申请人： Jae W. Jeon

发明人： Jae W. Jeon

IPC分类号： G05D3/12 ,  B25J9/00 ,  G05B19/19 ,  H02P29/00 ,  G05D23/275

CPC分类号： G05B19/19 ,  G05B2219/37314 ,  G05B2219/41127 ,  G05B2219/42033

摘要： A register stores the value from the integral controller of the PID controller whenever it receives a feedback signal. A main controller outputs a warm-up drift compensation value whenever the servo motor is at a standstill. An arithmetic unit calculates the sum of the speed command signal from the PID controller, the warm-up drift compensation value from the main controller and a speed feedback signal and applies the result to the servo motor. In order to compensate for the warm-up drift in the servo motor, the main controller controls the position control apparatus by resetting the warm-up drift compensation value as described above.

摘要翻译： 只要接收到反馈信号，寄存器就存储来自PID控制器的积分控制器的值。 每当伺服电机处于停止状态时，主控制器输出预热漂移补偿值。 算术单元计算来自PID控制器的速度指令信号，来自主控制器的预热漂移补偿值和速度反馈信号的和，并将结果应用于伺服电动机。 为了补偿伺服电动机的预热漂移，主控制器通过如上所述重新设定预热漂移补偿值来控制位置控制装置。

公开(公告)号：US20170108848A1

公开(公告)日：2017-04-20

申请号：US15301553

申请日：2014-04-22

申请人： ABB Schweiz AG

发明人： Stig MOBERG

IPC分类号： G05B19/404 ,  B25J9/10

CPC分类号： G05B19/404 ,  B25J9/1005 ,  B25J9/1641 ,  G05B2219/37429 ,  G05B2219/41127 ,  G05B2219/41359 ,  G05B2219/49211

摘要： A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}r) and motor torque data (τ) related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}r) and motor torque data (τ) and estimate the drift (Δq) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (τgrav) of the motor, and a drift adjusting block (44) configured to adjust a control value (qr) used to control the positioning of the robot based on the estimated drift (Δq).

公开(公告)号：US20090076653A1

公开(公告)日：2009-03-19

申请号：US11719182

申请日：2005-11-16

申请人： Gerhard Hietmann ,  Martin Weiss

发明人： Gerhard Hietmann ,  Martin Weiss

IPC分类号： G06F17/00

CPC分类号： B25J9/1641 ,  G05B2219/37429 ,  G05B2219/39181 ,  G05B2219/41127 ,  G05B2219/41154

摘要： The invention relates to a method for adjusting and controlling an automatically controlled manipulator, for example a robot. This is often achieved with the aid of dynamic manipulator models, taking into account friction torques, which occur in gear mechanisms that are provided to displace axes of the manipulator. A model for the gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and axis accelerations, in addition to a motor temperature on the drive side of one of the motors that is associated with the relevant axis, said model also being used to determine target values, such as a motor position or a motor current. The inventive method is characterised in that the gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature. The invention also relates to a device that is suitable for carrying out said method and to the uses of a device of this type, According to the invention, the available motor output or the available motor torque can be specifically used in an optimal manner for the respective robot, thus improving the cycle time. The adjustment and driving behaviour is also improved.

摘要翻译： 本发明涉及一种用于调节和控制自动控制的机械手的方法，例如机器人。 这通常借助于动态操纵器模型来实现，考虑到在提供以移动操纵器的轴的齿轮机构中发生的摩擦力矩。 除了与相关轴线相关联的一个电动机的驱动侧上的电动机温度之外，还基于从动轴速度和轴加速度来确定用于至少一个轴的齿轮机构摩擦转矩的模型，所述模型 也用于确定目标值，例如电机位置或电机电流。 本发明的方法的特征在于，根据齿轮机构温度确定符合型号的齿轮机构摩擦转矩。 本发明还涉及一种适合于执行所述方法和这种类型的装置的使用的装置。根据本发明，可用的电动机输出或可用的电动机转矩可以以最佳方式专门用于 相应的机器人，从而提高了循环时间。 调整和驾驶行为也得到改善。

公开(公告)号：US5428470A

公开(公告)日：1995-06-27

申请号：US916306

申请日：1992-07-17

申请人： Donald P. Labriola, II

发明人： Donald P. Labriola, II

IPC分类号： G01N33/483 ,  G01N35/00 ,  G01N35/04 ,  G05B19/042 ,  G05B19/416 ,  G01N33/00

CPC分类号： G01N35/00732 ,  G01N35/00584 ,  G05B19/0421 ,  G05B19/416 ,  G01N2035/00326 ,  G01N2035/00455 ,  G01N2035/00683 ,  G01N2035/00752 ,  G01N2035/0475 ,  G01N35/00871 ,  G05B2219/25197 ,  G05B2219/25232 ,  G05B2219/25314 ,  G05B2219/33189 ,  G05B2219/33273 ,  G05B2219/34047 ,  G05B2219/34205 ,  G05B2219/37175 ,  G05B2219/41127 ,  G05B2219/41326 ,  G05B2219/42034 ,  G05B2219/42237 ,  G05B2219/43162 ,  Y10T436/115831 ,  Y10T436/12

摘要： An automated analytical system module design essentially electrically isolates modular elements within the analyzer system with inter-module communications provided via packet-based communications. The modules may include a motor controller which estimates motor temperature to enable high initial torque with motor failure prediction and detection. The modules in such a system can be identified on serial communications loops by a module reset and count-off process.

摘要翻译： 自动分析系统模块设计基本上将分析仪系统中的模块化元件电隔离，并通过基于分组的通信提供的模块间通信。 模块可以包括电动机控制器，该电动机控制器通过电动机故障预测和检测来估计电动机温度以实现高初始转矩。 这种系统中的模块可以通过模块复位和计数过程在串行通信环路上识别。

公开(公告)号：US09579792B2

公开(公告)日：2017-02-28

申请号：US11719182

申请日：2005-11-16

申请人： Gerhard Hietmann ,  Martin Weiss

发明人： Gerhard Hietmann ,  Martin Weiss

IPC分类号： G06F17/00 ,  B25J9/16

CPC分类号： B25J9/1641 ,  G05B2219/37429 ,  G05B2219/39181 ,  G05B2219/41127 ,  G05B2219/41154

摘要： Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.

摘要翻译： 基于动态机械手模型调整和控制机器人操纵器的方法和装置。 基于从动轴速度和加速度以及与轴相关联的一个电动机的驱动侧的电动机温度，确定用于至少一个轴的齿轮机构摩擦转矩的模型。 该模型用于确定目标值，如电机位置或电流。 根据齿轮机构温度确定符合型号的齿轮机构摩擦转矩。

公开(公告)号：US20130320908A1

公开(公告)日：2013-12-05

申请号：US13908567

申请日：2013-06-03

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Kenichi TAKAYAMA ,  Satoshi IKAI

IPC分类号： G05B11/01

CPC分类号： G05B11/011 ,  G05B19/404 ,  G05B2219/41127 ,  G05B2219/41164

摘要： A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

摘要翻译： 一种伺服控制器，其能够高精度地控制可移动体的运动，而不依赖于在滚珠丝杠上移动的可移动体的位置。 伺服控制器具有产生位置指令值的位置指令生成部， 速度指令生成部，其基于所述位置指令值和位置检测值生成速度指令值; 转矩指令生成部，其基于速度指令值和速度检测值生成转矩指令值; 以及位置补偿计算部，其基于从所述伺服马达到与所述滚珠丝杠螺纹接合的螺母的距离和所述转矩指令值，计算所述滚珠丝杠的伸缩量，并且基于所述滚珠丝杠的量 膨胀/收缩

公开(公告)号：US06249100B1

公开(公告)日：2001-06-19

申请号：US08904005

申请日：1997-07-31

申请人： Christopher M. Lange

发明人： Christopher M. Lange

IPC分类号： H02P318

CPC分类号： G05B19/404 ,  G05B2219/41127 ,  G05B2219/41251 ,  G05B2219/42237

摘要： A spring return rotary actuator incorporating a DC brush commutated electric motor and a pulse width modulation drive circuit which reduces the voltage at which current is supplied to the motor once a rotation sensor senses that the actuator output shaft has stalled. The drive circuit also includes a temperature responsive feature which increases the voltage at which current is supplied to the motor in the event a sensed temperature exceeds a temperature limit.

摘要翻译： 旋转传感器感测到致动器输出轴已经停止的包括直流电刷整流电动机的弹簧复位旋转致动器和脉宽调制驱动电路，其将电流供应给电动机的电压降低。 驱动电路还包括温度响应特征，其在感测到的温度超过温度限制的情况下增加向电动机供电的电压。

公开(公告)号：US5779405A

公开(公告)日：1998-07-14

申请号：US413870

申请日：1995-03-29

申请人： Katsuyoshi Aiso ,  Takeshi Goto ,  Kenichi Suzuki ,  Tadashi Sasaki

发明人： Katsuyoshi Aiso ,  Takeshi Goto ,  Kenichi Suzuki ,  Tadashi Sasaki

IPC分类号： B23Q15/18 ,  B23Q5/32 ,  B23Q11/00 ,  B23Q17/00 ,  G05B19/404 ,  B23C9/00

CPC分类号： B23Q11/0003 ,  B23Q5/32 ,  G05B19/404 ,  G05B2219/37124 ,  G05B2219/41127 ,  G05B2219/49207 ,  G05B2219/49212 ,  Y10T408/175 ,  Y10T409/303808 ,  Y10T409/303976 ,  Y10T409/3098

摘要： A thermal displacement correcting apparatus suitable for a machine tool (1) provided with a mechanism for feeding a main spindle (2) is disclosed. Three magnetic flux generating bodies 61 to 63 are fixed to the main spindle; a magnetic sensor (7) is fixed to the machine tool to detect the magnetic flux generated by the magnetic flux generating body at each predetermined spindle feed position; a thermal displacement value detecting section (14A) detects the thermal displacement values of the main spindle on the basis of outputs of the magnetic sensor at the respective spindle feed positions; a thermal displacement correction value calculating section (15) calculates a correction function on the basis of the detected thermal displacement values and previously determined reference values, and obtains the thermal displacement correction value in accordance with the calculated correction function at each spindle feed position; and a spindle feed command correcting section (16) corrects the spindle feed command applied to the spindle feed motor on the basis of the obtained thermal displacement correction value at each spindle feed position.

摘要翻译： 公开了一种适用于设有用于馈送主轴（2）的机构的机床（1）的热位移校正装置。 三个磁通发生体61至63固定在主轴上; 磁传感器（7）固定在机床上，以检测在每个预定的主轴进给位置由磁通量产生体产生的磁通量; 热位移值检测部（14A）基于各个主轴进给位置处的磁传感器的输出来检测主轴的热位移值; 热位移校正值计算部（15）基于检测到的热位移值和先前确定的基准值来计算校正函数，并且根据在每个主轴进给位置处的计算出的校正函数获得热位移校正值; 并且主轴进给指令修正部16基于所获得的各主轴进给位置的热位移校正值来校正施加于主轴进给电动机的主轴进给指令。