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1. 发明公开

EP0516702A1 IMPROVEMENTS IN OR RELATING TO ACTUATOR CONTROL 失效
标题翻译：动器的控制。
公开(公告)号：EP0516702A1
公开(公告)日：1992-12-09
申请号：EP91904968.0
申请日：1991-02-22
申请人： BRITISH TECHNOLOGY GROUP LTD
发明人： DANBURY, Richard, Neil , ACARNLEY, Paul, Philip
IPC分类号： G05B19
CPC分类号： G05B19/416 , G05B19/4142 , G05B2219/37313 , G05B2219/37612 , G05B2219/42128 , G05B2219/43026 , G05B2219/43034 , G05B2219/43038 , G05B2219/43041 , G05B2219/43115
摘要： Les éléments de positionnement sont souvent utilisés de manière inefficace, de sorte qu'il s'avère nécessaire d'utiliser un élément de positionnement à performance plus élévée que celle qu'il convenait d'utiliser. Cette invention décrit les méthodes et les appareils permettant d'obtenir une utilisation plus efficace lors du transfert de charges d'un point à un autre. L'élément de positionnement est commandé par un moyen de commande comportant des moyens de traitement de données (40) pour obtenir et stocker les informations relatives à la vitesse et à la position d'un élément de positionnement (20) au cours d'un transfert. Des moyens d'entraînement (22) se chargent de l'accélération et de la décélération sélectives de l'élément de postionnement (20). Le moyen de commande comprend également des moyens de traitement (36) permettant de prévoir, sur la base des données de vitesse et de position, un chemin de décélération pour ledit élément de positionnement et d'assurer, par le moyen d'entraînement (22), la décélération de l'élément de positionnement lorsque le chemin de décélération prévu croise un chemin d'accélération réel de l'élément de positionnement. Grâce à l'utilisation efficace des éléments de positionnement, un élément de positionnement peut donner de meilleurs résultats, ou un élément d'un système de positionnement peut être remplacé par un autre élément à performance inférieure tout en offrant les mêmes performances.

2. 发明公开

EP2142967A1 SYSTEM UND VERFAHREN ZUM ABRUFEN VON KENNDATEN 审中-公开
标题翻译：系统和方法计算特性
公开(公告)号：EP2142967A1
公开(公告)日：2010-01-13
申请号：EP08715562.8
申请日：2008-03-20
申请人： THOMAS MAGNETE GmbH
发明人： KRALLMANN, Jens , KIRSCH, Bernhard
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B2219/31104 , G05B2219/34039 , G05B2219/37612 , G05B2219/41143 , G05B2219/45006
摘要： The invention relates to a system for retrieving characteristic data for at least one actuating element (A, B, C, D), comprising a memory unit (4) for storing characteristic data of the actuating element (A-D), wherein in the case of a plurality of actuating elements the respective characteristic data can be associated with a defined actuating element, and a sub-system for reading the characteristic data from the memory unit, wherein the actuating element (A-D), the memory unit (4) and/or the sub-system are each independent and spatially separated from each other.

3. 发明公开

EP0383328A3 Positioning controlling device 失效
标题翻译：定位控制装置
公开(公告)号：EP0383328A3
公开(公告)日：1992-02-26
申请号：EP90102967.8
申请日：1990-02-15
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Sugita, Kazuhiko , Sakakibara, Norio , Hori, Nobumitsu , Yamakawa, Yoichi
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/34048 , G05B2219/37612 , G05B2219/41177 , G05B2219/41217
摘要： A positioning controlling device for improving the machineing accuracy of a work of a non-circular shape. A control axis is driven in accordance with an input function consisting of position instruction data corresponding to a machining shape of a work, and a response function of the position of the control axis is measured actually. Then, a transfer function of the servo system is determined from Fourier transformation of the input function and Fourier transformation of the response function, and a corrected input function with which a response function of the control axis ideally corresponds to the machining shape of the work is obtained from the transfer function. Even if the control axis is driven in accordance with the corrected input function, a response function obtained does not correspond to the ideal machining shape of the work. Therefore, the calculations for obtaining an input function described above are sequentially executed until a response function obtained converges to the ideal machining shape. As a result, even if the servo system has a non-linearity, if the control axis is controlled in accordance with an input function finally obtained in this manner, then a response function then corresponds to the ideal machining shape.

4. 发明授权

EP1979792B1 VERFAHREN ZUM REGELN EINES ISTWERTES FÜR EINE EINE POSITION EINES STELLGLIEDES CHARAKTERISIERENDE GRÖßE, COMPUTERPROGRAMM-PRODUKT UND COMPUTERPROGRAMM 有权
标题翻译：对于致动器的位置控制的实际值的方法表征，计算机程序产品和计算机程序
公开(公告)号：EP1979792B1
公开(公告)日：2010-03-31
申请号：EP07704045.9
申请日：2007-01-22
申请人： Robert Bosch GmbH
发明人： BUEHRLE, Ralf , COIS, Olivier , LANUSSE, Patrick , OUSTALOUP, Alain , MELCHIOR, Pierre , POTY, Alexandre
IPC分类号： G05B19/19 , G05B13/02
CPC分类号： G05B11/011 , G05B19/19 , G05B2219/37612

5. 发明授权

EP0251514B1 Apparatus for controlling industrial multijoint arm robot 失效
标题翻译：控制工业多媒体ARM机器人的设备
公开(公告)号：EP0251514B1
公开(公告)日：1993-03-31
申请号：EP87304971.2
申请日：1987-06-04
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Osuka, Koichi c/o Patent Division
IPC分类号： G05B19/19 , G05B19/405
CPC分类号： B25J9/163 , G05B19/4062 , G05B2219/37612 , G05B2219/45083 , G05B2219/50197

6. 发明公开

EP0383328A2 Positioning controlling device 失效
标题翻译： Positionssteuerungsvorrichtung。
公开(公告)号：EP0383328A2
公开(公告)日：1990-08-22
申请号：EP90102967.8
申请日：1990-02-15
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Sugita, Kazuhiko , Sakakibara, Norio , Hori, Nobumitsu , Yamakawa, Yoichi
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/34048 , G05B2219/37612 , G05B2219/41177 , G05B2219/41217
摘要： A positioning controlling device for improving the machineing accuracy of a work of a non-circular shape. A control axis is driven in accordance with an input function consisting of position instruction data corresponding to a machining shape of a work, and a response function of the position of the control axis is measured actually. Then, a transfer function of the servo system is determined from Fourier transformation of the input function and Fourier transformation of the response function, and a corrected input function with which a response function of the control axis ideally corresponds to the machining shape of the work is obtained from the transfer function. Even if the control axis is driven in accordance with the corrected input function, a response function obtained does not correspond to the ideal machining shape of the work. Therefore, the calculations for obtaining an input function described above are sequentially executed until a response function obtained converges to the ideal machining shape. As a result, even if the servo system has a non-linearity, if the control axis is controlled in accordance with an input function finally obtained in this manner, then a response function then corresponds to the ideal machining shape.
摘要翻译：一种用于提高非圆形工件的加工精度的定位控制装置。根据由与工件的加工形状对应的位置指令数据构成的输入功能来驱动控制轴，实际上测量控制轴的位置的响应功能。然后，通过输入函数的傅里叶变换和响应函数的傅里叶变换以及控制轴的响应函数理想地对应于作业的加工形状的校正输入函数来确定伺服系统的传递函数从传递函数获得。即使根据校正输入功能来驱动控制轴，所获得的响应函数也不对应于工件的理想加工形状。因此，顺序地执行用于获得上述输入功能的计算，直到获得的响应函数收敛到理想加工形状。结果，即使伺服系统具有非线性，如果根据最终以这种方式获得的输入功能来控制控制轴，则响应函数对应于理想的加工形状。

7. 发明公开

EP0251514A3 Apparatus for controlling industrial multijoint arm robot 失效
标题翻译：控制工业多媒体ARM机器人的装置
公开(公告)号：EP0251514A3
公开(公告)日：1989-12-13
申请号：EP87304971.2
申请日：1987-06-04
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Osuka, Koichi c/o Patent Division
IPC分类号： G05B19/19 , G05B19/405
CPC分类号： B25J9/163 , G05B19/4062 , G05B2219/37612 , G05B2219/45083 , G05B2219/50197
摘要： Disclosed is a control apparatus (14) for a multi-joint manipulator (10) constituting a multijoint robot arm having links (12a, 12b) mechanically and rotatably coupled to each other at joint portions. Actuators (22a, 22b) for rotating the links and angle sensors (24a, 24b), for measuring the amount of link rotation, are provided at the joint portions. The control apparatus (14) includes a driver (30) for the actuators (22a, 22b), a detector (32) for detecting the actually measured data of the links (12a, 12b), in response to the output signals from the sensors (24a, 24b), and a parameter identifier unit (36) which is made operative when it is designated. The parameter identifier unit (36) is automatically connected to the driver unit (30) and the detector (32) via a switch unit (34), only when an initial dynamical model of the manipulator (10) exceeds a predetermined allowance, thereby identifying the dynamical model of the manipulator (10). The identification result is supplied to a parameter computation unit (40), which calculates new manipulator control parameters in accordance with the identification result. The new control parameters are calculated to compensate for a change in the manipulator dynamical model. The new control parameters are transferred to a software servo unit (38), and replace standard control parameters stored therein.

8. 发明公开

EP3220216A1 METHOD AND DEVICE FOR SIMULATION OF A MECHANICAL SYSTEM 有权
标题翻译：用于模拟机械系统的方法和装置
公开(公告)号：EP3220216A1
公开(公告)日：2017-09-20
申请号：EP17151923.4
申请日：2017-01-18
申请人： Omron Corporation
发明人： Mori, Yasumoto , Egi, Mamoru , Miyaguchi, Shota
IPC分类号： G05B13/04 , G05B17/02
CPC分类号： G06F17/5086 , G05B13/042 , G05B13/044 , G05B17/02 , G05B2219/37612 , G05B2219/42154 , G05B2219/42155 , G05B2219/42163 , G06F17/141
摘要： The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.
摘要翻译：本发明适用于在短时间内容易地正确设定控制参数。本发明的模拟装置包括：频率响应函数计算部分（53），根据第一命令值和机械系统的测量值来计算频率响应函数; 脉冲响应计算部分（41），通过对根据频率响应函数和控制参数获得的频率响应函数执行傅立叶逆变换来计算脉冲响应; 以及根据第二命令值和脉冲响应执行机械系统（7）的时间响应模拟的时间响应输出部分（44）。

9. 发明授权

EP0257261B1 Power transmission 失效
公开(公告)号：EP0257261B1
公开(公告)日：1990-03-07
申请号：EP87109960.2
申请日：1987-07-10
申请人： Vickers Incorporated
发明人： Leemhuis, Richard S.
IPC分类号： F15B9/03 , G05B13/02
CPC分类号： G05B19/19 , G05B19/4062 , G05B2219/37612 , G05B2219/41133 , G05B2219/41206 , G05B2219/41301 , G05B2219/41309 , G05B2219/42237 , Y10T137/86389

10. 发明公开

EP1979792A1 VERFAHREN ZUM REGELN EINES ISTWERTES FÜR EINE EINE POSITION EINES STELLGLIEDES CHARAKTERISIERENDE GRÖßE, COMPUTERPROGRAMM-PRODUKT, COMPUTERPROGRAMM UND AUFZEICHNUNGSTRÄGER 有权
标题翻译：对于致动器的位置控制的实际值的方法表征，计算机程序产品和计算机程序
公开(公告)号：EP1979792A1
公开(公告)日：2008-10-15
申请号：EP07704045.9
申请日：2007-01-22
申请人： Robert Bosch GmbH
发明人： BUEHRLE, Ralf , COIS, Olivier , LANUSSE, Patrick , OUSTALOUP, Alain , MELCHIOR, Pierre , POTY, Alexandre
IPC分类号： G05B19/19 , G05B13/02
CPC分类号： G05B11/011 , G05B19/19 , G05B2219/37612
摘要： The invention proposes a method for regulating an actual value of a variable, which characterizes a position of an actuator (1), to a desired value using a regulator (11), which method makes it possible to optimize regulation in terms of bandwidth, stability, accuracy and robustness. In this case, a predefined temporal profile of the desired value is transformed into a desired temporal profile of the actual value. In order to transform the predefined temporal profile of the desired value into the desired temporal profile of the actual value, a first transfer function is formed in the frequency domain and is approximated using one or more factors, in particular delay elements. A non-integer exponent is selected for at least one of the factors.

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