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1.发明申请Method of determining permissible speed of an object and controlling the object 有权确定物体的允许速度和控制物体的方法公开(公告)号：US20030216822A1
公开(公告)日：2003-11-20
申请号：US10281124
申请日：2002-10-28
发明人： Tomonori Sato
IPC分类号： G05B019/18
CPC分类号： G05B19/19 , G05B2219/37435 , G05B2219/42077 , G05B2219/43203 , Y10T83/474 , Y10T83/4743
摘要： Command path and command speed within a predetermined range are read. The predetermined range is time required for the object to move between two points on the command path. Speed command for each time is temporarily generated based on the read command path and the command speed. Frequency component that corresponds to mechanical vibration due to movement of the object and that is included in a speed command for the each time is calculated. Speed at which the frequency component becomes equal to or smaller than a preset reference value is determined as the permissible speed. Moving speed of the object is controlled so as not to exceed the calculated permissible speed.
摘要翻译： 读取预定范围内的命令路径和命令速度。 预定范围是对象在命令路径上的两个点之间移动所需的时间。 基于读命令路径和命令速度临时生成每次的速度命令。 计算对应于由于物体的移动引起的机械振动并且包含在每次的速度指令中的频率分量。 将频率成分变为等于或小于预设基准值的速度确定为容许速度。 控制物体的移动速度，以便不超过计算的允许速度。
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公开(公告)号：US20140214207A1
公开(公告)日：2014-07-31
申请号：US14227439
申请日：2014-03-27
发明人： Katsuji IGARASHI , Masaki MOTOYOSHI
CPC分类号： B25J13/088 , B25J9/042 , B25J9/1641 , B25J9/1694 , B25J19/02 , G05B2219/41193 , G05B2219/41195 , G05B2219/41205 , G05B2219/42077 , Y10S901/02 , Y10S901/09 , Y10S901/46
摘要： A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.
摘要翻译： 机器人包括联接到基座的第一水平臂，经由第一水平臂联接到基座的第二水平臂，适于旋转相应臂的第一和第二马达以及适于计算旋转角度和旋转速度的第一和第二编码器 的各个电动机。 第一电动机控制部分根据由角度传感器检测的传感器角速度，基于第一和第二编码器减去第一和第二角速度，并且控制第一电动机，使得通过基于振动增加振动速度而获得的速度测量值 作为减法结果的角速度和第一旋转速度等于速度指令值。
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公开(公告)号：US20130234642A1
公开(公告)日：2013-09-12
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译： 控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数 代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值， 第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动 目标跟随运动目标值。
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公开(公告)号：US20130204404A1
公开(公告)日：2013-08-08
申请号：US13753951
申请日：2013-01-30
发明人： Norbert Kerner
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/404 , G05B2219/41121 , G05B2219/42062 , G05B2219/42077 , G05B2219/49054
摘要： A closed-loop control structure for positioning a load with the aid of an electric motor includes a device for the active damping of unwanted, low-frequency vibrations. The closed-loop control structure has a position controller, a speed controller, and a current controller, which together, form a cascaded control loop. Damping signals which counteract unwanted, low-frequency vibrations are applied to the control loop, at least one first and one second damping signal of different phase angle being derived from a single sensor signal, and the first damping signal being injected between the position controller and the speed controller, and the second damping signal being injected between the speed controller and the current controller.
摘要翻译： 借助于电动机来定位负载的闭环控制结构包括用于主动阻尼不期望的低频振动的装置。 闭环控制结构具有位置控制器，速度控制器和电流控制器，其一起形成级联的控制回路。 抵消不想要的低频振动的阻尼信号被施加到控制回路，从单个传感器信号导出不同相位角的至少一个第一和第二阻尼信号，并且第一阻尼信号被注入位置控制器和 速度控制器和第二阻尼信号被注入速度控制器和电流控制器之间。
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公开(公告)号：US20120215357A1
公开(公告)日：2012-08-23
申请号：US13400922
申请日：2012-02-21
申请人： Katsuji IGARASHI , Masaki MOTOYOSHI
发明人： Katsuji IGARASHI , Masaki MOTOYOSHI
CPC分类号： B25J13/088 , B25J9/042 , B25J9/1641 , B25J9/1694 , B25J19/02 , G05B2219/41193 , G05B2219/41195 , G05B2219/41205 , G05B2219/42077 , Y10S901/02 , Y10S901/09 , Y10S901/46
摘要： A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.
摘要翻译： 机器人包括联接到基座的第一水平臂，经由第一水平臂联接到基座的第二水平臂，适于旋转相应臂的第一和第二马达以及适于计算旋转角度和旋转速度的第一和第二编码器 的各个电动机。 第一电动机控制部分根据由角度传感器检测的传感器角速度，基于第一和第二编码器减去第一和第二角速度，并且控制第一电动机，使得通过基于振动增加振动速度而获得的速度测量值 作为减法结果的角速度和第一旋转速度等于速度指令值。
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公开(公告)号：US5459383A
公开(公告)日：1995-10-17
申请号：US259361
申请日：1994-06-14
CPC分类号： G05B19/19 , G01B21/045 , G11B21/081 , G05B2219/37388 , G05B2219/41025 , G05B2219/41117 , G05B2219/42077
摘要： Methods and apparatus for providing improved gain and bandwidth and robust damping of mechanical resonances for a servo control system by providing a collocated or nearly collocated feedback loop that operates in parallel with the ordinary feedback loop used for position or velocity feedback.
摘要翻译： 通过提供与用于位置或速度反馈的普通反馈回路并联操作的并置或几乎配置的反馈回路，为伺服控制系统提供改进的增益和带宽以及机械谐振的鲁棒阻尼的方法和装置。
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公开(公告)号：US20170305012A1
公开(公告)日：2017-10-26
申请号：US15517292
申请日：2014-10-10
发明人： Ryo NAGATA , Masatoshi FUJITA
CPC分类号： B25J9/1641 , B25J9/1697 , B25J13/088 , B25J15/0616 , G05B2219/39195 , G05B2219/39241 , G05B2219/42077 , G05B2219/45063 , G05D19/02
摘要： After a component picked up by a suction nozzle is moved in an XY direction towards target XY coordinates, a waveform of a vibration (vibration waveform) in the Y direction arising in the component after the component has arrived near the target XY coordinates is measured, and control is performed such that the component arrives at a target Z coordinate (value zero) when a displacement y of the component crosses a node of the measured vibration waveform.
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公开(公告)号：US08831781B2
公开(公告)日：2014-09-09
申请号：US13400922
申请日：2012-02-21
申请人： Katsuji Igarashi , Masaki Motoyoshi
发明人： Katsuji Igarashi , Masaki Motoyoshi
CPC分类号： B25J13/088 , B25J9/042 , B25J9/1641 , B25J9/1694 , B25J19/02 , G05B2219/41193 , G05B2219/41195 , G05B2219/41205 , G05B2219/42077 , Y10S901/02 , Y10S901/09 , Y10S901/46
摘要： A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.
摘要翻译： 机器人包括联接到基座的第一水平臂，经由第一水平臂联接到基座的第二水平臂，适于旋转相应臂的第一和第二马达以及适于计算旋转角度和旋转速度的第一和第二编码器 的各个电动机。 第一电动机控制部分根据由角度传感器检测的传感器角速度，基于第一和第二编码器减去第一和第二角速度，并且控制第一电动机，使得通过基于振动增加振动速度而获得的速度测量值 作为减法结果的角速度和第一旋转速度等于速度指令值。
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9.发明授权Module for on-line vibration detection and adjustment and machining center using the same 有权模块用于在线振动检测和调整及加工中心使用公开(公告)号：US08776342B2
公开(公告)日：2014-07-15
申请号：US12871419
申请日：2010-08-30
申请人： Tzu-Hsin Kuo , Chun-Hung Huang
发明人： Tzu-Hsin Kuo , Chun-Hung Huang
IPC分类号： B23Q17/00 , B23Q11/00 , B23Q17/12 , G05B19/404 , G05B19/4065
CPC分类号： B23Q11/0039 , B23C2250/16 , B23Q17/12 , G05B19/404 , G05B19/4065 , G05B2219/37434 , G05B2219/41117 , G05B2219/41122 , G05B2219/41128 , G05B2219/42077 , G05B2219/49176 , Y10T29/49774 , Y10T408/76 , Y10T409/300896 , Y10T409/304312
摘要： A module for on-line vibration detection and adjustment and machining center using the same are provided in the present invention, wherein the module is disposed at the machining center having an interface of feedrate override and an interface of spindle override and the inverter. The module comprises at least one vibration sensor for detecting the vibrating status of the machining center, thereby generating corresponding at least one sensing signal and a processor for processing the at least one sensing signal so as to generate a spindle adjusting signal for the interface of spindle override and the inverter and a feedrate adjusting signal for the interface of the federate override. The computer numerical controller receives the spindle adjusting signal and the feedrate adjusting signal from the interface of the spindle override and federate override respectively and accordingly controls the feedrate and spindle rate of the machining center.
摘要翻译： 在本发明中提供了一种用于在线振动检测和调整和加工中心的模块，其中模块设置在具有进给倍率和主轴倍率与逆变器接口的加工中心处。 该模块包括至少一个用于检测加工中心的振动状态的振动传感器，从而产生相应的至少一个感测信号和处理器，用于处理至少一个感测信号，以便产生主轴接口的主轴调节信号 超控和变频器以及联合超控接口的进给速度调整信号。 计算机数值控制器分别从主轴超控和联合超控接口接收主轴调整信号和进给速度调节信号，从而控制加工中心的进给速度和主轴转速。
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公开(公告)号：US20060108958A1
公开(公告)日：2006-05-25
申请号：US11316958
申请日：2005-12-27
申请人： Roland Brenner
发明人： Roland Brenner
IPC分类号： H02P7/00
CPC分类号： B25J9/1641 , G05B2219/41214 , G05B2219/42077 , G05B2219/45117 , H02P23/04
摘要： In a holding arrangement (101) for a medical-optical instrument (103), an electric motor is provided in a rotational joint (111, 119) to compensate a load torque occurring in this rotational joint. This electric motor is supplied with current in correspondence to a detected position of the rotational joint (111, 119). A current control curve required for this purpose is stored in a memory. This current control curve can be determined in that the rotational joints are deflected with the electric motor into predetermined positions and the current demand needed therefor is detected. The holding arrangement (101) has a unit for actively damping vibration including a vibration damping control loop. This vibration damping control loop outputs a superposition motor current to the electric motor as an actuating quantity in order to move the rotational joint (111, 119) with the electric motor so that a detected vibration of the holding arrangement (101) is countered.
摘要翻译： 在用于医疗光学仪器（103）的保持装置（101）中，电动机设置在旋转接头（111,119）中，以补偿在该旋转接头中发生的负载转矩。 该电动机与旋转接头（111,119）的检测位置对应地供给电流。 为此目的所需的电流控制曲线存储在存储器中。 可以确定该电流控制曲线，即旋转接头用电动机偏转到预定位置，并且检测其所需的当前需求。 保持装置（101）具有用于主动地阻尼振动的单元，包括减振控制回路。 该振动阻尼控制回路将作为驱动量的电动机的叠加电动机电流输出，以便使电动机移动旋转接头（111,119），使得保持装置（101）的检测到的振动被抵消。
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