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1. 发明申请

WO1990007739A1 CONTROL METHOD FOR ROBOT 审中-公开
标题翻译：机器人的控制方法
公开(公告)号：WO1990007739A1
公开(公告)日：1990-07-12
申请号：PCT/JP1989001313
申请日：1989-12-27
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , KUREBAYASHI, Toshiyuki; , KURANAGA, Satoshi; , FUKUNAGA, Tatsuya; , HIDAKA, Osamu;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G05B19/42
CPC分类号： G05B19/414 , G05B2219/34365 , G05B2219/34367 , G05B2219/36511 , G05B2219/36514
摘要： An execution method for a teaching program is disclosed which can execute another teaching program at an arbitrary point during the execution of one teaching program. During normal execution, an instruction stored in memory (7) is read out via a teaching data read section (12) and is sent to an analysis/execution section (11) through change-over section (9, 10) for interpretation and execution. When interrupt signals corresponding to input signals (1 ∩ i) are sent by an interrupt signal judgement task (2) to a teaching program allocation section (4), the program in execution is suspended and its address is stored in an address storing register (8) through the change-over section (9). Another teaching program corresponding to the input signals (1 ∩ i) is read out via another teaching data read section (13) from the memory (7) for interpretation and execution by the analysis execution section (11). When the execution of another teaching program is completed the address in the register (8) is sent to the read section (12) and the interrupted teaching program is resumed.

2. 发明申请

WO1989010822A1 METHOD OF AND APPARATUS FOR CONTROLLING ROBOT HAVING MULTIPLE ROTARY SHAFTS 审中-公开
标题翻译：用于控制具有多个旋转轴的机器人的方法和装置
公开(公告)号：WO1989010822A1
公开(公告)日：1989-11-16
申请号：PCT/JP1989000457
申请日：1989-05-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , YAMAMOTO, Minoru; , GOSHO, Satoshi;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： B25J09/10
CPC分类号： G05B19/425 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/41 , G05B19/4182 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The work-space envelope of a conventional articulate multiple-shaft robot is limited to within U180° with respect to all shafts due to the construction of the robot. The expansion of the work-space envelope of a robot has come to be demanded recenlty, and the construction of and a control method for a robot has been improved accordingly, so that this envelope has been expanded to up to U360°. However, it is difficult in some cases to apply such a control method to a robot having a shaft which is turned not less than U360°, and the robot cannot be operated in some cases. Therefore, according to the present invention, in order that a signal representative of a position to which a shaft has been turned is indicative of an angle within the range of U360° with respect to a reference position of the same shaft, a signal representative of the number of revolutions which is obtained by multiplying the number of revolutions of the mentioned shaft by an integer is added to or subtracted from the above actual position signal in accordance with a plus or minus sign thereof, and a signal representative of the result of this addition or subtraction is used as a signal representative of a position of rotation of the shaft at the time of starting of a posture control operation. This corrected link angle becomes less than U360°. Therefore, if this control method is employed, a smooth interpolation operation can be carried out. Accordingly, the workspace envelope of an articulate multiple-shaft robot can be expanded.

3. 发明申请

WO1991002663A1 METHOD OF CONTROL OF MOVING ELEMENT OF MAGNETIC LEVITATION CARRIER APPARATUS 审中-公开
标题翻译：控制运动元件运动装置的方法
公开(公告)号：WO1991002663A1
公开(公告)日：1991-03-07
申请号：PCT/JP1990001074
申请日：1990-08-23
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , OGURO, Ryuichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： B60L13/08
CPC分类号： B61B13/08 , B60L13/08
摘要： A magnetic levitation carrier apparatus of the type wherein a plate-like moving element (SFT) is moved by a linear motor disposed inside a fixing element (STT), wherein when the moving element is supported in a vertical direction by first to fourth electromagnet devices (MGV10 SIMILAR MGV41) and force is allowed to act on the moving element in a horizontal direction perpendicular to the moving direction by fifth and sixth electromagnet devices (MGH10 SIMILAR MGH21), the gap between the moving element and each electromagnet device is detected by a gap sensor so as to output gap data. As to the vertical direction, for example, an attraction command (fv1 SIMILAR fv2) is obtained from the output value of a feedback quantity calculation circuit (10) to which the gap data (Xv1 SIMILAR Xv4) are inputted and the output value of a variable gain gv (l) generation circuit (60) to which the position (l) of the centroid of the moving element is inputted and is linearized by a linearilization circuit (71 SIMILAR 74) and then outputted to each electromagnet. In this manner, the variable gain can be accomplished easily by an analog circuit and the control gain in each control direction can be given independently.
摘要翻译：一种磁悬浮载体装置，其中板状移动元件（SFT）由设置在固定元件（STT）内部的线性电机移动，其中当通过第一至第四电磁体装置沿垂直方向支撑移动元件时（MGV10 SIMILAR MGV41），并且通过第五和第六电磁体装置（MGH10 SIMILAR MGH21），允许力在与移动方向垂直的水平方向上作用于移动元件，移动元件和每个电磁体装置之间的间隙由间隙传感器，以输出间隙数据。对于垂直方向，例如，从输入了间隙数据（Xv1 SIMILAR XV4）的反馈量计算电路（10）的输出值获得吸引指令（fv1 SIMILAR fv2），输出值可变增益gv（l）生成电路（60），运动元件的质心的位置（1）被输入并通过线性化电路（71类型74）线性化，然后输出到每个电磁体。以这种方式，可以通过模拟电路容易地实现可变增益，并且可以独立地给出每个控制方向上的控制增益。

4. 发明申请

WO1991000984A1 ABSOLUTE VALUE ENCODER 审中-公开
标题翻译：绝对值编码器
公开(公告)号：WO1991000984A1
公开(公告)日：1991-01-24
申请号：PCT/JP1990000072
申请日：1990-01-23
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , NAGASE, Takashi , HIGASHI, Kouichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G01D05/249
CPC分类号： H03M1/282 , G01D5/2495 , G01D5/34792
摘要： This invention relates to an absolute value encoder with which an arbitrary resolution can be realized by preparing a random number sequence of any length by the application of an algorithm that shifts binary codes by M bits and adds 0 or 1 such that the codes are all different from each other. Further, when a slit pattern of codes of random numbers of M-series is used, a resolution of 2K can be realized by the use of a circuit that generates a pattern of a combination of zero and a code of random numbers of M-series.

5. 发明申请

WO1990012448A1 DEVICE FOR CONTROLLING SERVO MOTOR 审中-公开
标题翻译：用于控制伺服电机的装置
公开(公告)号：WO1990012448A1
公开(公告)日：1990-10-18
申请号：PCT/JP1990000472
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , YAMAMOTO, Yoichi; , TOHYA, Takayuki; , HIRAGA, Yoshiji;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： H02P05/00
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

6. 发明申请

WO1992001562A1 METHOD AND APPARATUS FOR CONTROLLING SYNCHRONIZED PHASES IN SYSTEM FOR DRIVING PRINTING ROLLS FOR CORRUGATED BOARD PRINTING MACHINE 审中-公开
标题翻译：用于驱动打印机打印机系统中同步相位控制的方法和装置
公开(公告)号：WO1992001562A1
公开(公告)日：1992-02-06
申请号：PCT/JP1991000963
申请日：1991-07-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HAMADA PRINTING PRESS CO., LTD. , IKEGUCHI, Masao
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HAMADA PRINTING PRESS CO., LTD.
IPC分类号： B41F33/08
CPC分类号： B41F13/0045 , B41F13/14 , B41P2213/734
摘要： The present invention relates to a technical field pertaining to control of synchronized phases between a plurality of printing rolls in a corrugated board printing machine. An object of the present invention is to realize the control of synchronized phases inexpensively and highly accurately by use of software. According to the present invention, speed commands inputted at regular intervals are converted into digital values and integrated, rotations of the rolls are respectively integrated, further, PI operations are conducted on the deviations of these integrated values, and corrections based on the results of the PI operations are respectively applied to rotational speed commands given to driving motors of the printing rolls. At this time, during the processes of integrations of the speed commands and the rotations of the respective printing rolls, when the upper limit values of the operations are exceeded, the values are to be returned to zero, respectively, and the operations are to be continued.

7. 发明申请

WO1991020049A1 LINE DETECTION METHOD 审中-公开
标题翻译：线检测方法
公开(公告)号：WO1991020049A1
公开(公告)日：1991-12-26
申请号：PCT/JP1991000777
申请日：1991-06-10
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , OKUMURA, Shinji , NISHIKAWA, Seigo , NAKAZATO, Tatsumi , HIRAKAWA, Kiyoshi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G06F15/70
CPC分类号： G06K9/4647 , G06T7/12 , G06T7/73 , G06T2207/10016
摘要： The most appropriate lines are recognized as lines from all of the conceivable ones of two rectangular windows (12, 14) by assuming dust and scratches as part of the lines at a preparatory stage. The gradient and characterizing value of each line are determined and each rectangular window is converted to a parallelogram along this gradient. The gradient and characteristic value of the line are determined at the detection stage by utilizing this parallelogramic window. In this manner, even when image data are worse, the line can be detected and a weld line, an edge of an object of detection, etc., can be detected accurately.
摘要翻译：通过在预备阶段假设灰尘和划痕作为线的一部分，最合适的线被识别为来自两个矩形窗（12,14）中的所有可想到的线的线。确定每行的梯度和特征值，并将每个矩形窗口沿着该梯度转换为平行四边形。通过利用该平行四边形窗口在检测阶段确定线的梯度和特征值。以这种方式，即使图像数据较差，也可以检测线路，并且可以精确地检测焊接线，检测对象的边缘等。

8. 发明申请

WO1991000499A1 ENCODER 审中-公开
标题翻译：编码器
公开(公告)号：WO1991000499A1
公开(公告)日：1991-01-10
申请号：PCT/JP1990000848
申请日：1990-06-29
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HIGASHI, Kouichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G01D05/245
CPC分类号： H03M1/1076 , G01D3/08 , G01D5/2457 , H03M1/308
摘要： An encoder comprising a circuit that detects abnormal condition of the encoder body, and a circuit which, when the encoder body is under abnormal condition, inverts and produces part of the output signals of the encoder body in response to an abnormal condition detect signal output from the abnormal condition detecting circuit, or which does not output part of the output signals of the encoder body. Therefore, any abnormal condition that occurs in the encoder body can be recognized from the external side.

9. 发明申请

WO1991010945A1 METHOD OF CONTROLLING ARTICULATED ROBOT 审中-公开
标题翻译：控制机器人的方法
公开(公告)号：WO1991010945A1
公开(公告)日：1991-07-25
申请号：PCT/JP1991000063
申请日：1991-01-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , MINAMI, Yoshikatsu , TANAKA, Masato
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G05B19/18
CPC分类号： B25J9/1643 , G05B2219/40353
摘要： A method of controlling an articulated robot having more than six axes and less than twelve axes, comprising: a first step in which the axes are divided into two groups each having six axes or less, and, with respect to the dividing point (P), redundant axes (11) are disposed on the side of a reference point and basic axes (12) are disposed on the side of fingers (Q); and a second step in which the dividing point (P) is regarded as a first control point and the fingers (Q) are regarded as a second control point, whereby the first control point is interpolation-controlled, and the first control point thus interpolation-controlled is regarded as a new reference point, whereby the second control point is further interpolation-controlled, so that all of the axes of the articulated robot are interpolation-controlled.

10. 发明申请

WO1991003779A1 ROBOT CONTROL METHOD 审中-公开
标题翻译：机器人控制方法
公开(公告)号：WO1991003779A1
公开(公告)日：1991-03-21
申请号：PCT/JP1990001082
申请日：1990-08-27
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , MINAMI, Yoshikatsu , TANAKA, Masato
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G05B19/42
CPC分类号： G05B19/425 , G05B2219/36446 , G05B2219/36448 , G05B2219/45083 , G05B2219/50353
摘要： In order to operate the relative posture between a work (4) gripped by a robot (1) and an arbitrary work point (A) without changing the position of a certain point (P), the work point (A) is defined on the reference coordinates of the robot (1) and when the work (4) gripped by the robot (1) is subjected to a teaching operation with respect to the work point (A), the work point (A) is temporarily controlled as if it were the end effector of a robot control point (R). As the work (4) is rotated around the work point (A), the posture of the work (4) is changed to a desired relative posture with respect to the work point (A). In this manner, the posture of the work (4) gripped by the robot can be changed to a desired relative posture within a short period with respect to the work point (A) and the teaching time can be reduced.

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