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21. 发明专利

JPS6142008A Robot course controller 失效
标题翻译：机器人课程控制器
公开(公告)号：JPS6142008A
公开(公告)日：1986-02-28
申请号：JP16413384
申请日：1984-08-03
申请人： Sankyo Seiki Mfg Co Ltd
发明人： TOKIDA HARUHIRO
IPC分类号： G05D3/12 , B25J9/10 , B25J9/16 , B25J13/00 , G05B19/19 , G05B19/416 , G05B19/418
CPC分类号： G05B19/4181 , G05B19/416 , G05B2219/34042 , G05B2219/43048 , Y02P90/06
摘要： PURPOSE:To attain a smoothly curved locus as a course of operating points of a robot by interposing a digital filter for the component of each coordinate system between a motion command part of the robot and a robot driving part and using delay characteristics of rise and fall of this filter. CONSTITUTION:A robot course controller 1 is provided with digital filters 3 and 4 especially between a motion command part 2 and a coordinate converter 5, and the output terminal of an adder 10 is connected to a subtractor 8 and the other input terminal of the adder 10. These filters 3, and 4 function as delay elements and have characteristics approximating a transmission function 1/(1+ST) of an analog filter of an integration circuit, and therefore, the locus of operating points of the robot becomes an exponential-functionally smooth curve. The value of a coefficient 1/a of a multiplier 9 and a sampling period (a certain unit time) are changed to adjust freely delay times (time constants) of filters 3 and 4. Thus, since the operation command position of the robot is changed continuously, an excessive current is not flowed to the robot driving part (servomotor), and a smooth motion characteristic is obtained.
摘要翻译：目的：通过在机器人的运动指令部和机器人驱动部之间插入用于每个坐标系的部件的数字滤波器并使用上升和下降的延迟特性来获得作为机器人的操作点的平滑弯曲轨迹的这个过滤器。构成：机器人路线控制器1具有特别是运动指令部分2和坐标转换器5之间的数字滤波器3和4，加法器10的输出端连接到减法器8，加法器的另一个输入端这些滤波器3和4用作延迟元件并且具有接近积分电路的模拟滤波器的传输函数1 /（1 + ST）的特性，因此机器人的操作点的轨迹变为指数 - 功能平滑曲线。改变乘法器9的系数1 / a的值和采样周期（一定的单位时间），以自由调整滤波器3和4的延迟时间（时间常数）。因此，由于机器人的操作指令位置连续地变化，过量的电流不流向机器人驱动部（伺服电机），得到平滑的运动特性。

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