公开(公告)号：US08060239B2

公开(公告)日：2011-11-15

申请号：US12158859

申请日：2006-12-01

申请人： Walter Hoffmann ,  Wolfgang Papiernik ,  Tomas Sauer

发明人： Walter Hoffmann ,  Wolfgang Papiernik ,  Tomas Sauer

IPC分类号： G05D1/10 ,  G05B19/19 ,  G05B19/41

CPC分类号： G05B19/19 ,  G05B19/4103 ,  G05B2219/34142 ,  G05B2219/41139 ,  G05B2219/41457 ,  G05B2219/42225

摘要： According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF). The computer (15) determines the rough function (GF) in such a way that the distance of the rough trajectory (13) from the initial trajectory (2) always lies below a predetermined threshold (S) regardless of the value of the scalar trajectory parameter (s).

摘要翻译： 根据本发明，以位置引导方式遵循的初始轨迹（2）被输入到计算机（15）中，所述初始轨迹（2）由初始功能（AF）描述，使得相应的对应 通过将标量轨迹参数代入初始函数（AF），在初始轨迹（2）上确定位置（pA）。 标量轨迹参数与时间（t）不同，同时是沿着初始轨迹（2）覆盖的距离的特征。 计算机（15）以参考标量轨迹参数的低通特性作为标量轨迹参数的函数过滤初始轨迹（2），从而确定粗略函数（GF），使得相应的 通过将标量轨迹参数代入粗函数（GF），在粗略轨迹（13）上确定对应位置（pG）。 计算机（15）以粗略轨迹（13）与初始轨迹（2）的距离总是低于预定阈值（S）的方式确定粗略功能（GF），而不管标量轨迹的值如何 参数。

公开(公告)号：US08757941B2

公开(公告)日：2014-06-24

申请号：US13348982

申请日：2012-01-12

申请人： Masafumi Okabe

发明人： Masafumi Okabe

IPC分类号： B23Q15/18 ,  B23Q15/22

CPC分类号： B23Q17/2233 ,  B23C1/007 ,  B23C1/06 ,  B26D2007/2678 ,  B26F1/3813 ,  G05B19/404 ,  G05B2219/41139 ,  G05B2219/45038 ,  G05B2219/49189 ,  G05B2219/50173 ,  Y10T83/141 ,  Y10T409/307224 ,  Y10T409/307728 ,  Y10T409/308008 ,  Y10T409/309744

摘要： A cutting plotter includes a medium supporter, a first guide rail, a second guide rail, a carriage, a work tool, a working controller, and a second direction displacement detector. The second direction displacement detector is configured to measure a second guide rail displacement amount. The second guide rail displacement amount indicates a magnitude of displacement of a moving path of the carriage from a predetermined moving path with respect to the second guide rail in a direction perpendicular to a second direction when the carriage is moved in the second direction along the second guide rail. The working controller is configured to execute a control in which a movement control of the second guide rail on the first guide rail is added so that the second guide rail displacement amount is corrected in a movement control of the carriage on the second guide rail.

摘要翻译： 切割机包括介质支撑件，第一导轨，第二导轨，托架，作业工具，工作控制器和第二方向位移检测器。 第二方向位移检测器构造成测量第二导轨位移量。 第二导轨位移量表示当滑架沿第二方向沿第二方向移动时，滑架的移动路径相对于第二导轨在与第二方向垂直的方向上的移动路径的位移的大小 导轨。 工作控制器被配置为执行其中添加第一导轨上的第二导轨的移动控制的控制，使得在第二导轨上的滑架的移动控制中校正第二导轨位移量。

公开(公告)号：US20080269944A1

公开(公告)日：2008-10-30

申请号：US12158859

申请日：2006-12-01

申请人： Walter Hoffmann ,  Wolfgang Papiernik ,  Tomas Sauer

发明人： Walter Hoffmann ,  Wolfgang Papiernik ,  Tomas Sauer

IPC分类号： G05B19/18

CPC分类号： G05B19/19 ,  G05B19/4103 ,  G05B2219/34142 ,  G05B2219/41139 ,  G05B2219/41457 ,  G05B2219/42225

摘要： According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF). The computer (15) determines the rough function (GF) in such a way that the distance of the rough trajectory (13) from the initial trajectory (2) always lies below a predetermined threshold (S) regardless of the value of the scalar trajectory parameter (s).

摘要翻译： 根据本发明，以位置引导方式遵循的初始轨迹（2）被输入到计算机（15）中，所述初始轨迹（2）由初始功能（AF）描述，使得相应的对应 通过将标量轨迹参数代入初始函数（AF），在初始轨迹（2）上确定位置（pA）。 标量轨迹参数与时间（t）不同，同时是沿着初始轨迹（2）覆盖的距离的特征。 计算机（15）以参考标量轨迹参数的低通特性作为标量轨迹参数的函数过滤初始轨迹（2），从而确定粗略函数（GF），使得相应的 通过将标量轨迹参数代入粗函数（GF），在粗略轨迹（13）上确定对应位置（pG）。 计算机（15）以粗略轨迹（13）与初始轨迹（2）的距离总是低于预定阈值（S）的方式确定粗略功能（GF），而不管标量轨迹的值如何 参数。

公开(公告)号：US20150051735A1

公开(公告)日：2015-02-19

申请号：US14363228

申请日：2013-02-05

申请人： CANON KABUSHIKI KAISHA

发明人： Motoyasu Tanaka

IPC分类号： B25J9/16

CPC分类号： B25J9/1638 ,  G05B2219/41139 ,  G05B2219/42289

摘要： Realized is a structure capable of deflection correction drive, in which actuator performance can be effectively utilized, and actuator performance U does not exceed a first constraint value as an upper limit. A target trajectory calculation unit 101 uses a target value Xref and a second constraint value Uopt to calculate a target trajectory θref of a robot. A deflection correction trajectory θ1ref is calculated from the target trajectory θref and a deflection correction amount Δθ to calculate the actuator performance U necessary for realizing the deflection correction trajectory θ1ref. A determination unit 105 determines whether the actuator performance U is within a range of a first constraint value and whether a difference between the actuator performance U and the first constraint value is within a range of a predetermined value. If the conditions are not satisfied, a constraint value change unit 106 changes the second constraint value Uopt to repeat the calculation. If the conditions are satisfied, the deflection correction trajectory θ1ref at that point is decided as the trajectory of the robot.

摘要翻译： 实现了能够进行偏转校正驱动的结构，其中可以有效地利用致动器性能，并且致动器性能U不超过作为上限的第一约束值。 目标轨迹计算单元101使用目标值Xref和第二约束值Uopt来计算机器人的目标轨迹＆ref; ref。 偏转校正轨迹＆1;从目标轨迹计算出1ref; ref和偏转校正量＆Dgr;＆Theta; 计算实现偏转校正轨迹所需的执行机构性能; 1ref。 确定单元105确定致动器性能U是否在第一约束值的范围内，以及执行器性能U和第一约束值之间的差是否在预定值的范围内。 如果条件不满足，则约束值改变单元106改变第二约束值Uopt以重复计算。 如果满足条件，则将该点处的偏转校正轨迹＆1;（1 ref）确定为机器人的轨迹。

公开(公告)号：US20120103154A1

公开(公告)日：2012-05-03

申请号：US13348982

申请日：2012-01-12

申请人： Masafumi OKABE

发明人： Masafumi OKABE

IPC分类号： B26D5/00 ,  B26D1/45

CPC分类号： B23Q17/2233 ,  B23C1/007 ,  B23C1/06 ,  B26D2007/2678 ,  B26F1/3813 ,  G05B19/404 ,  G05B2219/41139 ,  G05B2219/45038 ,  G05B2219/49189 ,  G05B2219/50173 ,  Y10T83/141 ,  Y10T409/307224 ,  Y10T409/307728 ,  Y10T409/308008 ,  Y10T409/309744

摘要： A cutting plotter includes a medium supporter, a first guide rail, a second guide rail, a carriage, a work tool, a working controller, and a second direction displacement detector. The second direction displacement detector is configured to measure a second guide rail displacement amount. The second guide rail displacement amount indicates a magnitude of displacement of a moving path of the carriage from a predetermined moving path with respect to the second guide rail in a direction perpendicular to a second direction when the carriage is moved in the second direction along the second guide rail. The working controller is configured to execute a control in which a movement control of the second guide rail on the first guide rail is added so that the second guide rail displacement amount is corrected in a movement control of the carriage on the second guide rail.

摘要翻译： 切割机包括介质支撑件，第一导轨，第二导轨，托架，作业工具，工作控制器和第二方向位移检测器。 第二方向位移检测器构造成测量第二导轨位移量。 第二导轨位移量表示当滑架沿第二方向沿第二方向移动时，滑架的移动路径相对于第二导轨在与第二方向垂直的方向上的移动路径的位移的大小 导轨。 工作控制器被配置为执行其中添加第一导轨上的第二导轨的移动控制的控制，使得在第二导轨上的滑架的移动控制中校正第二导轨位移量。

公开(公告)号：US20060090656A1

公开(公告)日：2006-05-04

申请号：US11265078

申请日：2005-11-03

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Satoshi Ikai

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Satoshi Ikai

IPC分类号： B30B15/26

CPC分类号： G05B19/19 ,  B21D24/02 ,  G05B2219/41139 ,  G05B2219/42087 ,  G05B2219/45131

摘要： A control apparatus for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied to a slide in a press machine. The control apparatus includes a force commanding section for commanding a force to be produced by the die cushion mechanism; a force detecting section for detecting the force produced by the die cushion mechanism; a motor-speed detecting section for detecting an operating speed of the servo-motor; a slide-speed detecting section for detecting a moving speed of the slide; and a force controlling section for executing a force control on the servo-motor, based on a force command value commanded by the force commanding section, a force detected value detected by the force detecting section, a motor-speed detected value detected by the motor-speed detecting section and a slide-speed detected value detected by the slide-speed detecting section.

摘要翻译： 一种用于控制模具缓冲机构的控制装置，其包括作为驱动源的伺服电动机，并且产生适于施加到冲压机中的滑块的力。 控制装置包括用于指示由模具缓冲机构产生的力的力指令部分; 用于检测由模具缓冲机构产生的力的力检测部分; 电动机速度检测部，用于检测伺服电动机的运转速度; 用于检测滑块的移动速度的滑块速度检测部分; 以及力控制部，其基于由所述力指令部指定的力指令值，由所述力检测部检测到的力检测值，对所述伺服电动机进行力控制，由所述电动机检测出的电动机速度检测值 速度检测部和由滑动速度检测部检测到的滑动速度检测值。

公开(公告)号：US07461530B2

公开(公告)日：2008-12-09

申请号：US11265078

申请日：2005-11-03

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Satoshi Ikai

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Hiroyuki Kawamura ,  Satoshi Ikai

IPC分类号： B21C51/00

CPC分类号： G05B19/19 ,  B21D24/02 ,  G05B2219/41139 ,  G05B2219/42087 ,  G05B2219/45131

摘要： A control apparatus for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied to a slide in a press machine. The control apparatus includes a force commanding section for commanding a force to be produced by the die cushion mechanism; a force detecting section for detecting the force produced by the die cushion mechanism; a motor-speed detecting section for detecting an operating speed of the servo-motor; a slide-speed detecting section for detecting a moving speed of the slide; and a force controlling section for executing a force control on the servo-motor, based on a force command value commanded by the force commanding section, a force detected value detected by the force detecting section, a motor-speed detected value detected by the motor-speed detecting section and a slide-speed detected value detected by the slide-speed detecting section.

摘要翻译： 一种用于控制模具缓冲机构的控制装置，其包括作为驱动源的伺服电动机，并且产生适于施加到冲压机中的滑块的力。 控制装置包括用于指示由模具缓冲机构产生的力的力指令部分; 用于检测由模具缓冲机构产生的力的力检测部分; 电动机速度检测部，用于检测伺服电动机的运转速度; 用于检测滑块的移动速度的滑块速度检测部分; 以及力控制部，其基于由所述力指令部指定的力指令值，由所述力检测部检测到的力检测值，对所述伺服电动机进行力控制，由所述电动机检测出的电动机速度检测值 速度检测部和由滑动速度检测部检测到的滑动速度检测值。

公开(公告)号：US06184644B2

公开(公告)日：2001-02-06

申请号：US09079365

申请日：1998-05-15

申请人： Satoshi Eguchi

发明人： Satoshi Eguchi

IPC分类号： G05B19404

CPC分类号： G05B19/404 ,  G05B2219/41139 ,  G05B2219/49195

摘要： In an apparatus for controlling the position of an object driven by a servomotor via a ball screw drive system, parameters of the ball screw drive system are determined from a position command value, an acceleration command value, a torque command value and a motor speed, based on which a dynamic deflection extent while the object is driven at an adjustable speed is calculated. To compensate for this dynamic deflection extent, a deflection compensation command section calculates a deflection compensation value, a deflection speed compensation value, and a deflection torque compensation value. These compensation values are added to their related sections in the position control apparatus individually and collectively compensate for the dynamic deflection.

摘要翻译： 在通过滚珠丝杠驱动系统控制由伺服马达驱动的物体的位置的装置中，根据位置指令值，加速度指令值，转矩指令值和马达速度来确定滚珠丝杠驱动系统的参数， 计算出物体以可调速度驱动时的动态偏转程度。 为了补偿该动态偏转程度，偏转补偿指令部分计算偏转补偿值，偏转速度补偿值和偏转转矩补偿值。 这些补偿值被单独地添加到位置控制装置的相关部分，并且共同补偿动态偏转。

公开(公告)号：US6060854A

公开(公告)日：2000-05-09

申请号：US190368

申请日：1998-11-12

申请人： Stephen J. Yutkowitz

发明人： Stephen J. Yutkowitz

IPC分类号： G05B13/04

CPC分类号： G05B19/404 ,  G05B2219/41139 ,  G05B2219/49191

摘要： A method and apparatus for compensating for the effects of compliant elements in a positioning system is provided. The amount of compensation to be applied can be determined by measuring the lost motion errors which are prevalent during continuous motion of the movable member of the system. The compensation value determined can be used to adjust servo control commands, such as position commands for example. Preferably, the compensation is applied when the movable member is in motion and removed when the movable member comes to a stop. Even more preferably, the compensation is applied and removed gradually. The compensation can be used in additional to friction compensation and backlash compensation, and can be implemented in a machine tool system.

摘要翻译： 提供了一种用于补偿定位系统中柔性元件的影响的方法和装置。 要应用的补偿量可以通过测量在系统的可动构件的连续运动期间普遍存在的失速运动误差来确定。 所确定的补偿值可用于调整伺服控制命令，例如位置命令。 优选地，当可移动部件停止时可移动部件运动并移除时，施加补偿。 更优选地，逐渐施加和去除补偿。 补偿可用于摩擦补偿和间隙补偿，并可在机床系统中实现。

公开(公告)号：US09676100B2

公开(公告)日：2017-06-13

申请号：US14363228

申请日：2013-02-05

申请人： CANON KABUSHIKI KAISHA

发明人： Motoyasu Tanaka

IPC分类号： B25J9/16

CPC分类号： B25J9/1638 ,  G05B2219/41139 ,  G05B2219/42289

摘要： A trajectory along which a robot is driven by an actuator is calculated using a first constraint value. A target value of the robot and a second constraint value are used to calculate a target trajectory of the robot. A deflection correction amount of the robot is calculated. The target trajectory is corrected from the deflection correction amount to calculate a deflection correction trajectory. Performance of the actuator necessary to operate the robot based on the deflection correction trajectory is calculated. It is determined whether a first condition that the actuator performance is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied. The deflection trajectory is output to the actuator if it is determined that the first condition and the second condition are satisfied.