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公开(公告)号：US09008842B2
公开(公告)日：2015-04-14
申请号：US13013346
申请日：2011-01-25
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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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。
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3.发明授权Adaptive sliding mode control method for object of control including spring system 失效自适应滑模控制方法，包括弹簧系统的控制对象
公开(公告)号：US5442270A
公开(公告)日：1995-08-15
申请号：US129084
申请日：1993-10-06
申请人： Kato Tetsuaki
发明人： Kato Tetsuaki
IPC分类号： G05B13/02 , G05B19/19 , G05D3/12 , H02P29/00 , G05B19/406
CPC分类号： G05B19/19 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352
摘要： The present invention provides an adaptive sliding mode control method capable of not only improving the convergence of estimated parameters but also providing outstanding vibration-damping properties. In this method, a position deviation .epsilon. between a command position and a motor position, a speed deviation .epsilon., and a position command acceleration .theta.r are determined. The difference .epsilon.t between the motor position and the position of machine's moving part and a differential .epsilon.t based thereon are obtained by observer processing and filtering processing. A phase plane Suf of the motor is obtained by feeding back the deviation .epsilon.t between the motor position and the position of the machine's moving part. Estimated values Jhat, Ahat and Grhat, representing an inertia term, coefficient of dynamic friction, and gravity term respectively, are obtained. A switching input .tau.1 is set to the maximum Dis or minimum Dis of a disturbance depending on the plus/minus sign of the phase plane Suf. A torque command .tau. for the motor is obtained and delivered to a current loop. With this method, the vibration of the machines moving part after positioning can be reduced.
摘要翻译： PCT No.PCT / JP93 / 00056 Sec。 371日期：1993年10月6日 102（e）日期1993年10月6日PCT 1993年1月19日PCT PCT。 出版物WO93 / 16423 日期：1993年8月19日。本发明提供了一种自适应滑模控制方法，其不仅可以提高估计参数的收敛性，而且还能提供出色的减振性能。 在该方法中，确定指令位置与马达位置之间的位置偏差ε，速度偏差ε，位置指令加速度θr。 通过观察者处理和滤波处理获得电动机位置与机器运动部位位置之间的差异ε以及基于其的差分εt。 通过反馈电动机位置和机器的运动部件的位置之间的偏差εt来获得电动机的相平面Suf。 估计值Jhat，Ahat和Grhat分别表示惯性项，动摩擦系数和重力项。 切换输入τ1根据相位面Suf的正/负号被设定为扰动的最大Dis或最小值Dis。 获得电机的转矩指令τ，并将其传递到电流回路。 利用该方法，可以减少定位后的机器移动部件的振动。
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公开(公告)号：US4897377A
公开(公告)日：1990-01-30
申请号：US183147
申请日：1988-04-19
申请人： Richard A. Marbrow
发明人： Richard A. Marbrow
CPC分类号： B41M5/52 , B41M5/41 , B41M5/5272 , G05B2219/41435 , G05B2219/42337 , G05B2219/42352 , G05B2219/43162 , Y10S428/913 , Y10S428/914 , Y10S430/142 , Y10T428/249953 , Y10T428/249987 , Y10T428/25 , Y10T428/258 , Y10T428/265 , Y10T428/31786
摘要： A thermal transfer printing (TTP) receiver sheet has a receiving layer comprising an amorphous synthetic thermoplastics polymer.
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5.发明申请CONTROL DEVICE OF POWER TRANSMISSION DEVICE AND METHOD OF SETTING PARAMETERS IN A POWER TRANSMISSION DEVICE 有权电力传输装置的控制装置及在电力传输装置中设定参数的方法公开(公告)号：US20140074293A1
公开(公告)日：2014-03-13
申请号：US14013353
申请日：2013-08-29
发明人： Atsuo Orita
IPC分类号： G05B13/00
CPC分类号： G05B13/00 , B25J9/1646 , G05B13/04 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352 , Y10S901/14
摘要： A control input for controlling a driving force of an actuator (5), by a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to converge the first variable component to zero on the switching hyperplane. A gradient of the switching hyperplane is preliminarily determined based on a response characteristics data satisfying a predetermined requirement.
摘要翻译： 一种用于通过使用由第一可变分量构成的切换功能的滑动模式控制的控制处理来控制致动器（5）的驱动力的控制输入，该第一可变分量是被赋予的次级功率的观测值之间的偏差 通过弹性变形构件（4）从主要元件（2）的次要元件（3）和作为偏差的时间变化率的第二可变分量，以便在切换时将第一可变分量收敛到零 超平面 基于满足预定要求的响应特性数据，预先确定切换超平面的梯度。
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公开(公告)号：US07899578B2
公开(公告)日：2011-03-01
申请号：US12247346
申请日：2008-10-08
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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公开(公告)号：US07190140B2
公开(公告)日：2007-03-13
申请号：US10816864
申请日：2004-04-05
申请人： Koji Yoneda
发明人： Koji Yoneda
IPC分类号： G05B13/00
CPC分类号： G05B19/19 , G05B5/01 , G05B13/047 , G05B2219/42352
摘要： A position control device for causing a position of a control system, including a servomotor and a moving body driven by the servomotor, to track a command value. The position control device includes a sliding mode controller for receiving command position r and state variable x of the control system and for providing a control input u to the servomotor. State variable x is expressed as follows: x = [ θ θ . ] , where θ is feedback position and {dot over (θ)} is feedback velocity. The position control device also includes a disturbance variable compensator for compensating control input u based on feedback velocity {dot over (θ)}.
摘要翻译： 一种位置控制装置，用于使包括由伺服电动机驱动的伺服电动机和移动体的控制系统的位置跟踪指令值。 位置控制装置包括滑动模式控制器，用于接收控制系统的指令位置r和状态变量x，并向伺服电机提供控制输入u。 状态变量x表示如下：
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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。
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9.发明授权Sliding mode control method for a machine having an operating section operatively coupled to a servomotor and wherein a switching variable is determined based on a torsion amount and a torsion speed 失效一种用于机器的滑动模式控制方法，其具有可操作地联接到伺服电机的操作部分，并且其中基于扭转量和扭转速度来确定切换变量
公开(公告)号：US5341078A
公开(公告)日：1994-08-23
申请号：US110212
申请日：1993-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on 0 (130, 131). The servo system properly follows the command even when nonlinear parameters associated with the spring element of the machine have varied, thereby preventing vibration of the machine.
摘要翻译： 提供一种滑动模式控制方法，其能够提高控制系统相对于机器的操作状态的变化时的指令的跟随能力，并且防止由于弹簧元件的作用而倾向于发生的振动 机器在运行状态发生变化时。 伺服电路的处理器基于命令位置（θr）和实际位置（θ）导出位置偏差（ε）和速度偏差（ε），估计扭转量（εn）和扭转速度（εn） 通过进行观察者处理（步骤100至101），并导出切换变量（102）。 处理器根据切换变量的正或负符号导出开关输入的第一至第四项中的每一个，并且位置偏差，指令位置的二阶导数中的相应一个的正或负符号， 扭转量和扭转速度（103〜129），然后基于通过将四个项相加而导出的切换输入导出足以使切换变量收敛于0的转矩指令（T） 130，131）。 即使与机器的弹簧元件相关的非线性参数变化，伺服系统也适当地遵循该命令，从而防止机器的振动。
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公开(公告)号：US20170224428A1
公开(公告)日：2017-08-10
申请号：US15514915
申请日：2015-09-21
申请人： Covidien LP
发明人： Brock Kopp
CPC分类号： A61B34/30 , A61B34/37 , A61B34/74 , A61B34/77 , B25J9/1646 , G05B2219/42352
摘要： A robotic surgical system includes an arm, a tool, an input controller, and a processing unit. The arm includes an end that supports the tool which is moveable an output distance within a surgical site. The input controller is movable an input distance at an input velocity and acceleration. The processing unit is in communication with the input controller and is operatively associated with the arm to move the tool the output distance. The processing unit is configured to dynamically scale the output distance in response to the input distance, velocity, and/or acceleration.
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