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31. 发明申请

US20080180045A1 ELIMINATION OF UNINTENDED VELOCITY REVERSALS IN S-CURVE VELOCITY PROFILES 有权
标题翻译：消除S曲线速度轮廓中意外的速度反转
公开(公告)号：US20080180045A1
公开(公告)日：2008-07-31
申请号：US11668111
申请日：2007-01-29
申请人： BOHUMIR SLADEK , Jacob Strickler Baker
发明人： BOHUMIR SLADEK , Jacob Strickler Baker
IPC分类号： H02P7/00
CPC分类号： G05B19/416 , G05B2219/41408 , G05B2219/49182
摘要： A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
摘要翻译：采用一种方法来消除运动曲线中不期望的速度反转。为运动曲线编程起动速度，启动加速度，速度限制，加速限制，减速限制，加速度加加速度极限和减速跳转极限。计算避免与运动曲线相关的速度反转所需的临界加加速度值。将临界加加速度值与编程的减速跳转限制进行比较。临界加加速度值和编程减速冲击极限值越大，就被设置为运动曲线使用的计算出的最大减速冲击极限。以这种方式，计算出的最大减速冲击极限将永远不会低于临界冲击，消除不期望的速度反转。

32. 发明申请

US20040225382A1 Jerk profile, vector motion control and real time position capture in motion control systems 审中-公开
标题翻译：震动轮廓，矢量运动控制和运动控制系统中的实时位置捕获
公开(公告)号：US20040225382A1
公开(公告)日：2004-11-11
申请号：US10842902
申请日：2004-05-10
发明人： Phil Brown , Nolen Handyside , Randall S. Olsen
IPC分类号： G05B013/02
CPC分类号： G05B19/416 , G05B2219/36171 , G05B2219/41408
摘要： In motion control systems, definable jerk parameters (definable radius of curves on the motion profile) for any particular location on the motion profile are provided. Further, vector mode control capability is provided by employing a ring buffer defining data points across a motion profile, directing movement to a position at a defined velocity. Finally, real time position capture is provided in a motion control system to avoid position determination errors.
摘要翻译：在运动控制系统中，提供了运动曲线上任何特定位置的可定义的加加速度参数（运动曲线上的可定义的曲线半径）。此外，通过采用在运动曲线上定义数据点的环形缓冲器来提供矢量模式控制能力，将运动指向定义的速度的位置。最后，在运动控制系统中提供实时位置捕获以避免位置确定错误。

33. 发明授权

US5508596A Motion control with precomputation 失效
标题翻译：运动控制与预先计算
公开(公告)号：US5508596A
公开(公告)日：1996-04-16
申请号：US134174
申请日：1993-10-07
申请人： John H. Olsen
发明人： John H. Olsen
IPC分类号： B25J9/18 , B26D5/00 , B26F3/00 , G05B19/23 , G05B19/25 , G05B19/29 , G05B19/416 , G05B19/18
CPC分类号： B26F3/004 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , B26D5/00 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion in machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or a robot, the system calculates, for each axis, for each incremental step along the path, a position command, a time delay between successive position commands, and, optionally, a force command based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.
摘要翻译：一种用于控制机床和工业机器人运动的系统。根据要切割的部件的规格或机床或机器人要跟随的路径，系统针对每个轴计算沿着路径的每个增量步长，位置命令，连续位置命令之间的时间延迟，并且可选地，基于预测的阻力的预测的力命令。规定精确控制速度，加速度和加加速度的计算。生成的数据被存储在存储设备中，并且随后指向机床或机器人。

34. 发明授权

US4262336A Multi-axis contouring control system 失效
标题翻译：多轴轮廓控制系统
公开(公告)号：US4262336A
公开(公告)日：1981-04-14
申请号：US34102
申请日：1979-04-27
申请人： Eric K. Pritchard
发明人： Eric K. Pritchard
IPC分类号： G05B19/414 , G05B19/42 , G05B19/417 , G05B19/40 , G05B19/403
CPC分类号： G05B19/42 , G05B19/4141 , G05B2219/33337 , G05B2219/33342 , G05B2219/34002 , G05B2219/34149 , G05B2219/34157 , G05B2219/34164 , G05B2219/34167 , G05B2219/34179 , G05B2219/35369 , G05B2219/35436 , G05B2219/41326 , G05B2219/41408 , G05B2219/43006 , G05B2219/45176
摘要： In a numerically controlled machine includes a first computer which stores command data for a path and derives sets of interpolation point data from said command data for a plurality of points along the path. A second computer stores two sets of interpolation point data from said first computer and extrapolates a set of said stored interpolation point data by incrementing velocity with acceleration and position with velocity using a noncircular high order polynomial to produce a sequence of driver command signals.A timing means provides timing signals to the second computer to determine the number and rate of iterations of drive command signals in said sequence as predetermined by the first computer for each set of interpolation point data.The program execution time in the second computer is reduced by a unique method of multiprecision calculation which requires a carry flip flop for each variable calculated and a sign flip flop for eliminated word segments. The memory address decoding for the two sets of interpolation print data are interchanged after each sequence invisibly to the computers. An index register causes data memory address decoding for a plurality of motor drivers invisible to the computers and selects an output to the appropriate motor driver. The second computer includes a manual mode program to calculate the sequence of driver command signals using a manually induced velocity vector. A phased locked loop in the timing means controllably reduces the iteration rate to zero in response to an error signal.
摘要翻译：在数控机器中包括第一计算机，其存储用于路径的命令数据，并根据来自所述路径的多个点的所述命令数据导出插值点数据集。第二计算机存储来自所述第一计算机的两组内插点数据，并且通过使用非圆形高阶多项式使用加速度和位置速度递增速度来外推一组所述存储的插值点数据，以产生一系列驱动器命令信号。定时装置向第二计算机提供定时信号，以确定由第一计算机为每组内插点数据预定的所述序列中的驱动命令信号的迭代次数和速率。第二台计算机中的程序执行时间通过一种独特的多精度计算方法来减少，该方法需要为每个计算的变量执行一个进位触发器和一个用于消除的字段的符号触发器。用于两组插值打印数据的存储器地址解码在每个序列之后被不可见地交换到计算机。索引寄存器对计算机不可见的多个电动机驱动器进行数据存储器地址解码，并选择到适当的电动机驱动器的输出。第二台计算机包括一个手动模式程序，用手动感应的速度矢量来计算驾驶员指令信号的顺序。定时装置中的相位锁定环可以根据误差信号可控地将迭代速率降低到零。

35. 发明授权

EP2220544B1 SYSTEM AND METHOD FOR JERK LIMITED TRAJECTORY PLANNING 有权
标题翻译：方法和装置挺举有限公司TRAIN规划
公开(公告)号：EP2220544B1
公开(公告)日：2013-10-16
申请号：EP08797750.0
申请日：2008-08-13
申请人： GE Intelligent Platforms, Inc.
发明人： MILLER, Daniel, H. , MORRISON, William, Lindsay
IPC分类号： G05B19/19 , G05B19/416
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/41408 , G05B2219/43168 , Y10S388/904

36. 发明授权

EP1437637B1 Servomotor controller 有权
标题翻译： Servomotorsteuersystem
公开(公告)号：EP1437637B1
公开(公告)日：2012-02-22
申请号：EP04250027.2
申请日：2004-01-06
申请人： FANUC CORPORATION
发明人： Iwashita, Yasusuke , Kawamura, Hiroyuki
IPC分类号： G05B19/39 , G05B19/404
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445

37. 发明公开

EP1437637A2 Servomotor controller 有权
标题翻译：伺服电机控制器
公开(公告)号：EP1437637A2
公开(公告)日：2004-07-14
申请号：EP04250027.2
申请日：2004-01-06
申请人： FANUC LTD
发明人： Iwashita, Yasusuke , Kawamura, Hiroyuki
IPC分类号： G05D3/14
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q 1 proportional to command velocity obtained by differentiating a position command and compensation amount Q 2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q 1 and Q 2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient β to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the, torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译：本发明提供一种能够防止刚性低的机械的可动部的位置控制时的响应延迟及由此产生的振动的控制装置。用于驱动具有低刚性的机器的电动机受到位置和速度回路控制。获得与通过对与二阶微分指令加速度成比例的位置指令和补偿量Q2进行微分而获得的指令速度成比例的补偿量Q1。将补偿量Q1和Q2加在一起，从而获得对应于估计的扭转量的速度偏移量Vof。速度偏移量的微分值乘以系数β以获得转矩偏移量Tof。速度偏移量Vof被加到通过位置环控制1获得的速度指令Vcs上。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc，并且该结果被用作对电动机的驱动指令。基于速度和转矩偏移量Vof和Tof，控制马达3和机器之间的扭转量。定位和速度环控制可精确控制机器位置和速度。

38. 发明专利

JP5343081B2 Jerk limited trajectory planning system and method of the path planning dexterity 有权
公开(公告)号：JP5343081B2
公开(公告)日：2013-11-13
申请号：JP2010530000
申请日：2008-08-13
申请人：ジーイー・インテリジェント・プラットフォームズ・インコーポレイテッド
发明人：ミラー，ダニエル・エイチ , モリソン，ウィリアム・リンゼイ
IPC分类号： G05B19/416
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/41408 , G05B2219/43168 , Y10S388/904
摘要： A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.

39. 发明专利

JP6133825B2 反転時の最適な加速度を算出する数値制御装置有权
公开(公告)号：JP6133825B2
公开(公告)日：2017-05-24
申请号：JP2014173767
申请日：2014-08-28
申请人：ファナック株式会社
发明人：渡邉光徳 , 小野武徳
IPC分类号： B23Q15/013 , G05B19/416
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/34179 , G05B2219/41408

40. 发明专利

JP2008199883A Elimination system of unintended velocity reversal in s-curve velocity profile 有权
标题翻译：不确定速度的消除系统在S曲线速度剖面中反转
公开(公告)号：JP2008199883A
公开(公告)日：2008-08-28
申请号：JP2008016995
申请日：2008-01-29
申请人： Rockwell Automation Technologies Inc , ロックウェルオートメーションテクノロジーズ, インコーポレーテッドRockwell Automation Technologies, Inc.
发明人： SLADEK BOHUMIR , STRICKLER BAKER JACOB
IPC分类号： H02P29/00
CPC分类号： G05B19/416 , G05B2219/41408 , G05B2219/49182
摘要： PROBLEM TO BE SOLVED: To provide a method and a system for adopting the elimination of an unfavorable velocity reversal in a motion profile. SOLUTION: Start speed, start acceleration, speed limit, acceleration limit, deceleration limit, acceleration jerk limit, and deceleration jerk limit are programmed for a speed profile. A critical jerk value, which is required for avoiding a velocity reversal associated with the motion profile, is calculated. The critical jerk value is compared with the programmed deceleration jerk limit. A larger critical jerk value and the programmed deceleration jerk limit are set as the maximum deceleration jerk limits calculated for use by the motion profile. In the method, the computed maximum deceleration jerk limit does not become lower than the critical jerk and the unfavorable velocity reversal is eliminated. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于消除运动曲线中不利的速度反转的方法和系统。
解决方案：为速度曲线编程启动速度，启动加速度，速度限制，加速限制，减速限制，加速度加速度限制和减速跳动限制。计算出避免与运动曲线相关联的速度反转所需的临界加加速度值。将临界加加速度值与编程的减速加速度限制进行比较。更大的临界加加速度值和编程的减速度加加速度极限被设置为运动曲线使用的最大减速度加加速度限制。在该方法中，计算出的最大减速冲击极限不会低于临界加速度，消除不利的速度反转。版权所有（C）2008，JPO＆INPIT

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