公开(公告)号：WO1994019732A1

公开(公告)日：1994-09-01

申请号：PCT/JP1994000267

申请日：1994-02-22

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  NOSE, Matsuo ,  ABE, Tamotsu

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: G05B19/407

CPC classification number: G05B19/416 ,  G05B2219/34048 ,  G05B2219/43178

Abstract: The invention relates to a device for reducing oscillations of a robot. An acceleration pattern is subjected to Fourier transform to provide a power spectrum distribution. A component of a resonant frequency (fn) is removed from the power spectrum distribution to provide a further power spectrum distribution for redeeming an acceleration pattern. The acceleration pattern thus found is integrated to provide a speed pattern. Then an acceleration and deceleration time corresponding to a taught velocity is found, and various axes of the robot are controlled in accordance with the velocity pattern which corresponds to the acceleration and deceleration time thus read out.

Abstract translation: 本发明涉及一种用于减少机器人振荡的装置。 对加速度模式进行傅里叶变换以提供功率谱分布。 从功率谱分布中去除谐振频率（fn）的分量，以提供用于赎回加速度模式的另外的功率谱分布。 这样找到的加速度模式被整合以提供速度模式。 然后，发现对应于教导速度的加速和减速时间，并且根据对应于读出的加速和减速时间的速度模式来控制机器人的各种轴。

公开(公告)号：WO1993019900A1

公开(公告)日：1993-10-14

申请号：PCT/JP1993000438

申请日：1993-04-05

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  NOSE, Matsuo; ,  ABE, Tamotsu;

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: B25J13/00

CPC classification number: G05B19/19

Abstract: A vibration reduction control apparatus for robots is adapted to control a motor, by which an arm of a robot is driven via a reduction/gear, by carrying out proportional compensation computation and differential compensation computation on the basis of the difference between a command value given in accordance with a programmed motion path of the arm and the actual action parameters of the arm and the actual action parameters of the arm for the purpose of effectively reducing the vibration of the robot over the whole range of the motion speeds thereof, the apparatus consisting of a servo control arithmetic means for minimizing the vibration of the mechanical system including a motor, a reduction/gear and an arm, a proportional compensation means provided in the servo control arithmetic means and adapted to carry out proportional compensation computation, a differential compensation means provided in the servo control arithmetic means and adapted to carry out differential compensation computation, a notched filter provided in the proportional compensation means, and a band-pass filter provided in the differential compensation means.

Abstract translation: 用于机器人的减振控制装置适用于通过基于给定的命令值之间的差进行比例补偿计算和差分补偿计算来控制机器人的臂通过减速/齿轮驱动的电动机 为了有效地减少机器人在其运动速度的整个范围上的振动的目的，根据臂的编程运动路径和臂的实际动作参数以及臂的实际动作参数，该装置 用于最小化包括电动机，减速/齿轮和臂的机械系统的振动的伺服控制算术装置，设置在伺服控制算术装置中并适于执行比例补偿计算的比例补偿装置，差分补偿装置 提供在伺服控制算术装置中并适于执行差分补偿c 比例补偿装置中提供的带槽滤波器，以及设置在差分补偿装置中的带通滤波器。

公开(公告)号：WO1993022107A1

公开(公告)日：1993-11-11

申请号：PCT/JP1992000533

申请日：1992-04-23

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  NOSE, Matsuo;

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: B25J09/10

CPC classification number: B25J9/1651 ,  G05B2219/36471 ,  G05B2219/43203

Abstract: A method of controlling an industrial robot, wherein vibrations and out-of-path of the forward end of a tool can be prevented when the tool mounted to the forward end of a movable arm is moved along a taught path, and a working position and an attitude of the forward end of the tool can be accurately and smoothly controlled to specified ones. The controlling method comprises the steps of: comparing a moving time (Tm) required for the forward end of the tool to move at a taught moving speed (VT) between preset two taught points (P1, P2) with the maximum value (T1) obtained from respective moving times of respective articulated shafts of the movable arm, which are obtained from moving amounts and limit speeds of the respective articulated shafts of the movable arm between the above-described taught points, before having the robot execute a moving command; recalculating a taught speed in accordance with which of the former and the latter moving times is longer; and executing the moving command by use of the recalculated taught speed (V), so as to limit the moving speed of the forward end of the tool.

Abstract translation: 一种控制工业机器人的方法，其中当安装到可移动臂的前端的工具沿教导的路径移动时，可以防止工具的前端的振动和超出路径，并且工作位置和 工具前端的姿态可以准确，平稳地控制到指定的位置。 所述控制方法包括以下步骤：比较所述工具的前端所需的移动时间（Tm）在预设的两个教导点（P1，P2）之间的教导移动速度（VT）与最大值（T1）之间移动， 从机器人执行移动指令之前，从可移动臂的各个关节轴的移动量和极限速度的移动量和极限速度获得的从可移动臂的各个铰接轴的相应移动时间获得的移动量; 根据前者和后一移动时间中的哪一个重新计算教导速度; 以及通过使用重新计算的教导速度（V）来执行移动命令，以限制工具的前端的移动速度。

公开(公告)号：WO1997034742A1

公开(公告)日：1997-09-25

申请号：PCT/JP1997000832

申请日：1997-03-17

Applicant: KOMATSU LTD. ,  SUGIMURA, Shunsuke ,  NOSE, Matsuo

Inventor： KOMATSU LTD.

IPC: B25J13/00

CPC classification number: G05B19/4189 ,  G05B19/416 ,  G05B2219/34387 ,  G05B2219/37225 ,  G05B2219/43006 ,  G05B2219/43162 ,  G05B2219/50391 ,  Y02P90/265 ,  Y02P90/28

Abstract: A control device for a work carrying system characterised in that a first point where the moving action of a work transitions from a moving action from an origin process chamber to a transfer chamber to a moving action inside the transfer chamber and a second point where the moving action of the work transitions from the moving action inside the transfer chamber to a moving action from the transfer chamber to a destination process chamber are set on a moving path of the work, and that speed patterns on the moving path are set based on a moving distance of the work and time required to open and close gate means of the origin and destination process chambers such that the opening of a gate valve at the destination is completed when the work reaches the second point on the moving path and that a moving time from the first point to the second point becomes the shortest time which is longer than the opening and closing time of the gate valve, the speed of a work carrying robot being thereby controlled in accordance with the set speed patterns, whereby any chance of the robot being temporarily stopped is minimized so as to effect high-speed carrying of a work such as a wafer requiring a shortest possible carrying time.

Abstract translation: 一种用于工作承载系统的控制装置，其特征在于，工件的移动动作从原始处理室到传送室的移动动作转移到传送室内的移动动作的第一点和移动 在工作的移动路径上设置从传送室内的移动动作到从传送室到目的地处理室的移动动作的工作过程的动作，并且基于移动路径来设定移动路径上的速度模式 打开和关闭起点和目的地处理室的门装置所需的工作和时间的距离，使得当工件到达移动路径上的第二点时，目的地的闸阀的打开完成，并且移动时间 第二点的第一点变为比闸阀的打开和关闭时间更长的最短时间，因此工作运输机器人的速度 根据设定的速度模式进行控制，从而使机器人暂时停止的任何机会最小化，以便实现诸如晶片等工件的高速承载，从而需要最短的运送时间。

公开(公告)号：WO1994017461A1

公开(公告)日：1994-08-04

申请号：PCT/JP1994000099

申请日：1994-01-26

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  NOSE, Matsuo ,  KITAHASHI, Masamitsu ,  ABE, Tamotsu

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: G05B19/403

CPC classification number: B25J9/1679 ,  G05B2219/41219 ,  G05B2219/41405 ,  G05B2219/49384

Abstract: An apparatus for controlling weaving welding by a robot in a high precision. Driving controllers (5, 6 and 7) drive each of the shafts of the robot in accordance with an input signal corresponding to a calculated target position theta 1d. The transmission function G(s) of at least one predetermined shaft among those of the robot, for the driving controllers (5, 6, 7), is calculated. The calculated target position theta 1d of the predetermined shaft is multiplied by the inverse transmission function 1/G(s) which is obtained from the transmission function thus calculated. In this way, a corrected calculated target position theta 1d* is obtained. A signal which corresponds to this corrected calculated target position theta 1d* is inputted into the drive controllers (5, 6 and 7). As a result, both the resonance characteristic (gain characteristic) and phase characteristic at an arbitrary weaving frequency are compensated. Thus, the precision of the weaving amplitude at the nose of the torch is enhanced, and at the same time, the distorsion of the weaving surface and waveform is significantly improved.

Abstract translation: 一种机器人以高精度控制编织焊接的装置。 驱动控制器（5,6）和7根据对应于计算出的目标位置θ1d的输入信号驱动机器人的每个轴。 计算出用于驱动控制器（5,6,7）的机器人的至少一个预定轴的传递函数G（s）。 计算出的预定轴的目标位置θ1d乘以由这样计算的传递函数获得的反向传递函数1 / G（s）。 以这种方式，获得校正的计算的目标位置θ1d *。 对应于该校正的计算出的目标位置θ1d *的信号被输入到驱动控制器（5,6,7）中。 结果，补偿了任意编织频率下的谐振特性（增益特性）和相位特性。 因此，提高了手电筒鼻部织造幅度的精度，同时显着提高了织造面和波形的变形。

公开(公告)号：WO1993017376A1

公开(公告)日：1993-09-02

申请号：PCT/JP1993000204

申请日：1993-02-19

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  TAKECHI, Hiroaki ,  SUWA, Tatsunori ,  OSANAI, Masashi ,  NOSE, Matsuo ,  KITAHASHI, Masamitsu ,  NASHIWA, Satomi ,  ASADA, Hisashi

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: G05B19/42

CPC classification number: G05B19/425

Abstract: An untaught robot can be put into a servo-off state without fail and teaching of a plurality of robots disposed in an area interfering with each other can be safely performed. Moreover, only one teaching device is enough and the teaching can be performed without confusion. For these purposes, in a double arm robot provided with first and second robots (3a, 3b) operating with each interfering area on each side of a strut (2), the teaching of the plurality of robots can be safely performed by connecting controllers (4a and 4b) of the both robots (3a and 3b) to a teaching device (5) through a change-over switch (6) such that, when one of the controllers (4a and 4b) of the both robots (3a and 3b) is connected to the teaching device (5), the other is disconnected.

Abstract translation: 可以不经故障地将未经处理的机器人置于伺服关闭状态，并且可以安全地执行设置在彼此干涉的区域中的多个机器人的教导。 此外，只有一个教学装置就足够了，而且教学可以毫无混乱地进行。 为了这些目的，在设置有与支柱（2）的每一侧上的每个干扰区域一起操作的第一和第二机器人（3a，3b）的双臂机器人中，可以通过连接控制器（例如， 两个机器人（3a和3b）的一个控制器（4a和4b）通过转换开关（6）连接到教学装置（5），使得当两个机器人（3a和3b）的控制器 ）连接到教学装置（5），另一个被断开。