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1. 发明公开

EP0762255A1 Drive control apparatus 失效
标题翻译： Einrichtung zur Antriebsregelung
公开(公告)号：EP0762255A1
公开(公告)日：1997-03-12
申请号：EP96306378.9
申请日：1996-09-03
申请人： CANON KABUSHIKI KAISHA
发明人： Sato, Mikio, Canon K.K. , Takeishi, Hiroaki, Canon K.K.
IPC分类号： G05D3/20 , G05B19/416
CPC分类号： G03F7/70691 , G03F7/70358 , G05B19/231 , G05B2219/37275 , G05B2219/41026 , G05B2219/41028 , G05B2219/41029 , G05B2219/41172 , G05B2219/41203 , G05B2219/41216 , G05B2219/42033
摘要： A target state quantity generating unit generates a target state quantity (11) for a stage, and a laser interferometer (9) detects the current state quantity (position) of the stage. Based on the target state quantity (11) and the detected state quantity (position), a compensation system constituted by a variable phase compensator (13) and a PID compensator (12) controls the driving operation of the stage. A memory unit (15,16) stores forward and reverse gain tables, and provides adjustment information for adjusting the compensation system in correspondence with the state quantity of the stage. The corresponding gain table is selected on the basis of the driving direction of the stage, and the adjustment information is read out from the selected gain table on the basis of the position of the storage. The corner frequency of the variable phase compensator is changed on the basis of the readout adjustment information.
摘要翻译：目标状态量生成部生成用于舞台的目标状态量（11），激光干涉仪（9）检测舞台的当前状态量（位置）。基于目标状态量（11）和检测到的状态量（位置），由可变相位补偿器（13）和PID补偿器（12）构成的补偿系统控制级的驱动操作。存储单元（15,16）存储正向增益表和反向增益表，并提供调整信息，用于根据阶段的状态量来调整补偿系统。基于级的驱动方向来选择对应的增益表，并且基于存储器的位置从所选择的增益表中读出调整信息。可变相位补偿器的转角频率基于读出调整信息而改变。

2. 发明公开

EP0262624A3 Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：EP0262624A3
公开(公告)日：1989-07-19
申请号：EP87114075.2
申请日：1987-09-26
申请人： KABUSHIKI KAISHA SG
发明人： Yuasa, Yasuhiro , Ito, Minoru
IPC分类号： G05D3/20 , G05B13/02
CPC分类号： G05B19/19 , G05B2219/41203
摘要： Position of an object is detected by a position detector (10) and position data detected by this position detector is stored in a memory circuit (11). A time data supply section (21) supplies time data ( Δt) as a lead compensation parameter. A compensation circuit (22) takes out position data (Dx (-Δt)) preceding by time corresponding to the supplied time data ( Δt) from the memory circuit (11) and corrects at least one of present position data (Dx) and target position data (Sx) in accordance with difference between the taken out position data and the present position data detected by the position detector thereby performing lead compensation. A control signal relating to the position of the object is generated in accordance with the present position data corrected by the compensation cirucit and the target position data and the positioning control is made by this control signal.
摘要翻译：由位置检测器（10）检测物体的位置，并将由该位置检测器检测到的位置数据存储在存储器电路（11）中。时间数据提供部分（21）提供时间数据（Δt）作为超前补偿参数。补偿电路（22）从存储器电路（11）中取出与所提供的时间数据（Δt）相对应的时间的前面的位置数据（Dx（-Δt）），并且校正当前位置数据（Dx）和目标中的至少一个根据取出的位置数据与由位置检测器检测到的当前位置数据之间的差异来确定位置数据（Sx），由此执行超前补偿。根据由补偿电路校正的当前位置数据和目标位置数据产生与目标位置有关的控制信号，并且通过该控制信号进行定位控制。

3. 发明公开

EP1810104A4 LEAD-LAG INPUT FILTER ARRANGEMENT FOR ELECTRO-PNEUMATIC CONTROL LOOPS 审中-公开
标题翻译： LEAD-LAG输入过滤器装置，用于磨削电动规则
公开(公告)号：EP1810104A4
公开(公告)日：2010-07-28
申请号：EP05814806
申请日：2005-10-20
申请人： FISHER CONTROLS INT
发明人： JUNK KENNETH W , LATWESEN ANNETTE L
IPC分类号： G05B19/042 , G05B13/02 , G05B19/44
CPC分类号： G05B19/0423 , G05B13/024 , G05B19/44 , G05B2219/41203 , G05B2219/41304 , G05D16/2013
摘要： A lead-lag input filter is connected ahead of a positioner feedback loop having one or more valve accessories, such as a volume booster or a QEV, to overcome slow dynamics experienced by the accessories when receiving low amplitude change control or set point signals. A user interface is connected to the lead-lag input filter and enables an operator or other control personnel to view and change the operating characteristics of the lead-lag input filter to thereby provide the control loop with any of a number of desired response characteristics.

4. 发明公开

EP0415239A3 A numerical control device for a grinding machine 失效
标题翻译：一种研磨机的数控装置
公开(公告)号：EP0415239A3
公开(公告)日：1991-04-24
申请号：EP90116008.5
申请日：1990-08-21
申请人： SEIKO SEIKI KABUSHIKI KAISHA
发明人： Iijima, Ryuji, c/o Seiko Seiki Kabushiki Kaisha
IPC分类号： G05B19/23 , G05B19/403
CPC分类号： G05B19/231 , G05B2219/33337 , G05B2219/41177 , G05B2219/41203 , G05B2219/45159 , G05B2219/45161
摘要： The numerical control device for a grinding machine in the present invention is
a numerical control device for a grinding machine which is equipped with servo-motor 4 which moves at least one of spindle 30, which has grindstone 29 for grinding on rotor shaft 28, and dresser 32, which carries out the correction process for grindstone 29, relatively in the dresser shaft center X and the rotor shaft center Z directions, and is a control device in which the amount of servo lag is compensated by a target position compensation calculating means d with respect to the unit time target position which is obtained by performing a track calculation at unit times on the basis of the amount of servo lag stored in the storage means c, and in which feedback control of the servo motor 4 is effected using this compensated target position.

5. 发明公开

EP0262624A2 Positioning control system 失效
标题翻译：位置-Regelsystem。
公开(公告)号：EP0262624A2
公开(公告)日：1988-04-06
申请号：EP87114075.2
申请日：1987-09-26
申请人： KABUSHIKI KAISHA SG
发明人： Yuasa, Yasuhiro , Ito, Minoru
IPC分类号： G05D3/20 , G05B13/02
CPC分类号： G05B19/19 , G05B2219/41203
摘要： Position of an object is detected by a position detector (10) and position data detected by this position detector is stored in a memory circuit (11). A time data supply section (21) supplies time data ( Δt) as a lead compensation parameter. A compensation circuit (22) takes out position data (Dx (-Δt)) preceding by time corresponding to the supplied time data ( Δt) from the memory circuit (11) and corrects at least one of present position data (Dx) and target position data (Sx) in accordance with difference between the taken out position data and the present position data detected by the position detector thereby performing lead compensation. A control signal relating to the position of the object is generated in accordance with the present position data corrected by the compensation cirucit and the target position data and the positioning control is made by this control signal.
摘要翻译：通过位置检测器（10）检测物体的位置，并且由该位置检测器检测到的位置数据被存储在存储器电路（11）中。时间数据提供部（21）将时间数据（DELTA t）作为引导补偿参数。补偿电路（22）从存储器电路（11）取出与提供的时间数据（DELTA t）对应的时间之前的位置数据（Dx（ - DELTA t）），并校正当前位置数据（Dx）和目标位置数据（Sx），根据取出位置数据与由位置检测器检测出的当前位置数据之间的差异，进行引导补偿。根据由补偿电路校正的当前位置数据和目标位置数据产生与物体的位置相关的控制信号，并且通过该控制信号进行定位控制。

6. 发明公开

EP0426264A3 Industrial robot with servo control 失效
标题翻译：工业机器人与伺服控制
公开(公告)号：EP0426264A3
公开(公告)日：1991-08-21
申请号：EP90203256.4
申请日：1987-01-27
申请人： ROBOTICS RESEARCH CORPORATION
发明人： Thompson, Jack M. Jr. , Eismann, Paul H.
IPC分类号： B25J9/18
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

7. 发明公开

EP0233712A3 Industrial robot with servo 失效
标题翻译：工业机器人与服务
公开(公告)号：EP0233712A3
公开(公告)日：1988-05-11
申请号：EP87300653
申请日：1987-01-27
申请人： ROBOTICS RESEARCH CORPORATION
发明人： Karlen, James P. , Thompson, Jack M., Jr. , Kowalski, Keith A. , Damico, David A. , Eismann, Paul H.
IPC分类号： B25J17/00 , B25J18/00
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

8. 发明公开

EP0046097A1 Lathe control system 失效
标题翻译： Drehbankkontrollesystem。
公开(公告)号：EP0046097A1
公开(公告)日：1982-02-17
申请号：EP81401168.0
申请日：1981-07-22
申请人： THE BENDIX CORPORATION
发明人： Hungerford, W.R.
IPC分类号： G05B19/18
CPC分类号： G05B19/186 , G05B2219/41202 , G05B2219/41203 , G05B2219/42125
摘要： Lathe control system for numerically controlling a lathe (10) having a cutting tool (14) attached to at least one movable slide (22;30), said control system including a velocity or acceleration command signal generator (52) causing the slide (22;30) to accelerate to a predetermined velocity prior to the initiation of thread cutting, and a digital or analog compensation network (84;86) causing the slide (22;30) to follow its associated command signal with zero following error.
摘要翻译：一种车床控制系统，用于数值控制具有连接至至少一个可移动滑块（22; 30）的切割工具（14）的车床（10），所述控制系统包括速度或加速度指令信号发生器（52），使得滑块 ; 30）在螺纹切割开始之前加速到预定速度;以及数字或模拟补偿网络（84; 86），使得滑块（22; 30）以零跟随误差跟随其相关联的命令信号。

9. 发明授权

EP0262624B1 Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：EP0262624B1
公开(公告)日：1993-02-03
申请号：EP87114075.2
申请日：1987-09-26
申请人： KABUSHIKI KAISHA SG
发明人： Yuasa, Yasuhiro , Ito, Minoru
IPC分类号： G05D3/20 , G05B13/02
CPC分类号： G05B19/19 , G05B2219/41203

10. 发明公开

EP0426264A2 Industrial robot with servo control 失效
标题翻译： Industrieller Roboter mit Servosteuerung。
公开(公告)号：EP0426264A2
公开(公告)日：1991-05-08
申请号：EP90203256.4
申请日：1987-01-27
申请人： ROBOTICS RESEARCH CORPORATION
发明人： Thompson, Jack M. Jr. , Eismann, Paul H.
IPC分类号： B25J9/18
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
摘要翻译：数字控制的工业机器人包括一组单元化和集成的联合驱动模块（2,4,6,8,10,12,14），其可以串联组装以形成操纵臂。接头有两种基本类型，俯仰接头（4,8,12）和滚动接头（2,6,10,14），后者提供围绕机械臂的纵向轴线的旋转，并且俯仰接头提供关于轴的旋转基本上垂直于辊接头轴线并偏离辊接头轴线。伺服控制通过感测从动构件上的动力导出反馈，并相应地补偿驱动信号。更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。

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