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1. 发明专利

JP2004227163A Servo control device 审中-公开
公开(公告)号：JP2004227163A
公开(公告)日：2004-08-12
申请号：JP2003012495
申请日：2003-01-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： TOYOSAWA YUKIO , MAEDA KAZUOMI
IPC分类号： G05B13/02 , B25J9/22 , G05B19/404 , G05B19/4155 , G05D3/12
CPC分类号： G05B19/404 , G05B2219/41176 , G05B2219/42132
摘要： PROBLEM TO BE SOLVED: To provide a servo control device to which learning control is applicable in case of executing a number of works of the same shape of a part or the like.
SOLUTION: Switches 24 and 25 are ON by a learning control start instruction from a host control device to fetch positional deviation of every period. The positional deviation is added to correction data fetched from a learning memory 22 followed by processing with a band limiting filter 21, and the resulting data are stored in the learning memory 22 as correction data. A phase delay and gain drop of the fetched correction data are compensated by a dynamic characteristic compensation element 23, and the result is added to the position deviation to be inputted to a position control part 3. When an instruction pattern to the same shape is ended, and a learning control end instruction is given, the switches 24 and 25 are OFF to end the learning control. The learning control can be performed in an optional position for working the same shape according to the learning control start and end instructions, and a precise working can be performed with the position deviation converged to zero.
COPYRIGHT: (C)2004,JPO&NCIPI

2. 发明专利

JPS5752915A Position controlling method for operating cylinder driving device 失效
标题翻译：用于操作气缸驱动装置的位置控制方法
公开(公告)号：JPS5752915A
公开(公告)日：1982-03-29
申请号：JP11544081
申请日：1981-07-24
申请人： Maag Zahnraeder & Maschinen Ag
发明人： GAIIFURANSOWA BURAN
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41176 , G05B2219/41309 , G05B2219/43115

3. 发明专利

JPS6148010A Servo controller 失效
标题翻译：伺服控制器
公开(公告)号：JPS6148010A
公开(公告)日：1986-03-08
申请号：JP16877184
申请日：1984-08-14
申请人： Fujitsu Ltd
发明人： TSUNEKAWA MASAO
IPC分类号： G05D3/12 , G05B11/36 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41176
摘要： PURPOSE:To eliminate the inconvenience of manual adjustment of offset by inputting proviously a zero driving signal to an amplifying means to store an output as the offset and by correcting the output during the servo-controlling operation. CONSTITUTION:A microprocessor 11 outputs digital value corresponding to the zero driving amount to DA converter 13. A switching signal s(11) switches a switching circuit 17 to input a motor driving signal s(14) to an AD converter 18. The output from the AD converter 18 is stored by microprocessore 11 in a memory 12 as the read offset amount. When the automatic offset recognising action is complated, switching circuit 17 is switched by a signal s(11) to shift the operation to the normal control mode and a location/speed signal s(16) is inputted to an AD converter 18, the microprocessor reads the output and performs the prescribed calculation to determine the driving amount. The offset amount is read by the memory 12 and subtracted from said driving amount to output to DA converter 13.
摘要翻译：目的：通过向放大装置输入零驱动信号来消除手动调整偏移的不便，以将输出存储为偏移量，并通过在伺服控制操作期间校正输出。构成：微处理器11将对应于零驱动量的数字值输出到DA转换器13.开关信号s（11）切换开关电路17以将电动机驱动信号s（14）输入到AD转换器18。 AD转换器18由微处理器11存储在存储器12中作为读取偏移量。当补偿自动偏移识别动作时，通过信号s（11）切换切换电路17，将操作切换到正常控制模式，将位置/速度信号s（16）输入到AD转换器18，微处理器读取输出并执行规定的计算以确定驾驶量。偏移量由存储器12读取并从所述驱动量中减去以输出到DA转换器13。

4. 发明专利

JPS6190205A Compensating method of absolute positioning error of robot 失效
标题翻译：机器人绝对定位错误的补偿方法
公开(公告)号：JPS6190205A
公开(公告)日：1986-05-08
申请号：JP21161984
申请日：1984-10-09
申请人： Komatsu Ltd
发明人： NISHI YOZO , KONDO EIJI , WATANABE YUJI
IPC分类号： B25J9/22 , B25J9/10 , G05B19/18 , G05B19/404
CPC分类号： G05B19/182 , G05B2219/41176 , G05B2219/41207 , G05B2219/45083
摘要： PURPOSE:To improve the accuracy of positioning of absolute position of robot, by correcting the positioning error against the absolute coordinates of a robot by detecting the error from a correction table in which each position of robot is specified. CONSTITUTION:The motion range of a robot is divided into gridiron, and a correction table is prepared to each division specifying correction volume of DELTAA-DELTAC, or correction volume for rectangular coordinates system deltax-deltaz. Suppose that the recognition of the present position of robot is P0(x',y',z'), against which the robot is actually positioned at P1(x,y,z) having differences of deltay, deltaz. Denoting that the rotating angle of rotation axis 8 obtained from encoder is A, and angles of 4th and 5th joints are B' and C' respectively, B' and C' should be corrected by DELTAB and DELTAC to make a correct recognition of present position, and B=B'+DELTAB; C=C'+DELTAC are obtained. When (x), (y), (z) coordinates are decided according to these angles A-C, then; x=f(A,B,C); y=g(A,B,C); and z=h(A,B,C), and coincide to the actual position P1(x,y,z).
摘要翻译：目的：为了提高机器人的绝对位置的定位精度，通过从机器人的各个位置的修正表检测出错误来校正机器人的绝对坐标的定位误差。构成：将机器人的运动范围分为格栅，并且为DELTAA-DELTAC的每个分区指定校正音量或直角坐标系deltax-deltaz的校正音量准备校正表。假设机器人当前位置的识别是P0（x'，y'，z'），机器人实际上位于具有差异deltay，deltaz的P1（x，y，z）处。表示从编码器获得的旋转轴8的旋转角度为A，第4和第5关节的角度分别为B'和C'，由DELTAB和DELTAC校正B'和C'，以正确识别当前位置，B = B'+ DELTAB; 得到C = C'+ DELTAC。当根据这些角度A-C确定（x），（y），（z）坐标时; x = f（A，B，C）; y = g（A，B，C）; 和z = h（A，B，C），并且与实际位置P1（x，y，z）重合。

5. 发明专利

JPS59116810A Robot controlling method 失效
标题翻译：机器人控制方法
公开(公告)号：JPS59116810A
公开(公告)日：1984-07-05
申请号：JP22601482
申请日：1982-12-24
申请人： Hitachi Ltd
发明人： ISOBE MITSUNOBU
IPC分类号： B25J9/22 , G05B19/18 , G05B19/404 , G05B19/4093 , G05B19/42
CPC分类号： G05B19/42 , G05B2219/41176 , G05B2219/45083
摘要： PURPOSE:To shorten a taking-out operation time and to facilitate teaching operation by calculating deviation in position by a simple sensor and storing it, and correcting the value of a taught number position and operating a robot. CONSTITUTION:A robot handle is moved to a position P1 and its position is taught. Then, the handle is lowered from the position P1 and stopped at the time when the sensor operates, and this position is taught as a standard sensor operation position P2. Then, the handle is lowered to a position P3, which is taught. The handle is closed at the position P3 and elevated to a position P4, which is taught, thereby finishing teaching taking-out operation. Then, correction control is performed on the basis of the taught standard operation positions and the handle moves to the position P1 firstly. The handle moves down to a next operation position PS and stops. The position deviation between the taught position P2 and position PS is calculated and stored to calculate a position P3' by subtracting the position deviation from the position P3, and the handle moves. The handle stops at the position P3' and is closed and elevated to the position P4, thus finishing the parts taking-out operation.
摘要翻译：目的：通过简单的传感器计算出位置偏差并进行存储，缩短取出操作时间，方便教学操作，并修正教授的位置值和操作机器人。构成：将机器人手柄移动到位置P1，并教导其位置。然后，手柄从位置P1下降，并且在传感器操作时停止，并且该位置被教导为标准传感器操作位置P2。然后，将手柄下降到被教导的位置P3。手柄在位置P3处关闭并升高到被教导的位置P4，从而完成教学取出操作。然后，基于教导的标准操作位置进行校正控制，并且手柄首先移动到位置P1。手柄向下移动到下一个操作位置PS并停止。计算并存储教导位置P2和位置PS之间的位置偏差，以通过从位置P3减去位置偏差来计算位置P3'，并且手柄移动。手柄在位置P3'处停止，并且关闭并升高到位置P4，从而完成零件取出操作。

6. 发明专利

JPS5941010A Numerical control method 失效
标题翻译：数值控制方法
公开(公告)号：JPS5941010A
公开(公告)日：1984-03-07
申请号：JP13484882
申请日：1982-08-02
申请人： Amada Metoretsukusu:Kk
发明人： AOYAMA TADAMASA
IPC分类号： G05B19/416 , G05B19/19
CPC分类号： G05B19/19 , G05B2219/41176
摘要： PURPOSE:To attain almost complete outline control by supplying a speed plot controlling signal formed from a command signal programmed in an one-chip computer directly to a driving circuit of each driving source. CONSTITUTION:When working speed and timing, time and rotational direction are supplied as control signals for respective driving sources 4X, 4Y from a CPU2 to driving circuits 3X, 3Y, the driving sources 4X, 4Y are actuated by the control signals. Positional sensors to detect the current position of a controlled system are attached to the controlled system and respective driving souces at respective axes. Current position signals 5X, 5Y taken out from the sensors are compared with a proposed position signals formed by a speed plot signal programmed in the CPU2 to check whether preceeding speed reference control is executed by the program or not. By using the deviation of these signal as positioning compensating signals, almost complete outline control is attained.
摘要翻译：目的：通过将由单片机中编程的命令信号形成的速度控制信号直接提供给每个驱动源的驱动电路，来实现几乎完全的轮廓控制。构成：当从CPU2到驱动电路3X，3Y的驱动源4X，4Y的驱动源4X，4Y的驱动源4X，4Y的驱动源4X，4Y的驱动源4X，4Y的驱动源4X，4Y的驱动源4X，用于检测受控系统的当前位置的位置传感器附接到受控系统和相应轴上的相应驱动力。将从传感器中取出的当前位置信号5X，5Y与由CPU2编程的速度绘图信号形成的建议位置信号进行比较，以检查是否由程序执行先前的速度参考控制。通过使用这些信号作为定位补偿信号的偏差，可以实现几乎完全的轮廓控制。

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