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81. 发明专利

JPH04152082A PROFILE CONTROL UNIT FOR ROBOT 失效
公开(公告)号：JPH04152082A
公开(公告)日：1992-05-26
申请号：JP27390490
申请日：1990-10-12
申请人： FUJITSU LTD
发明人： NAKADA YASUYUKI , YABUKI AKIHIKO , YOSHIDA YUTAKA
IPC分类号： B25J13/00 , B25J9/10 , B25J13/08
摘要： PURPOSE:To obviate a teaching work and the definition of a curved face, by performing a force control, positional control based on the detection values of a reaction force detection part and position detection part, moving a hand in the direction orthogonal to the vertical line direction while maintaining the detected reaction force at a set value, and profiling the object surface. CONSTITUTION:Profile track plane changeover conditions and a track plane data of after changeover are set from an operation part 11 in advance and stored in a set data memory part 12. the contact fro an object is detected, with the use of a force detection part 2 fitted to the hand 1 of a robot, in such a state, the vertical line vector of the object and the moving direction vector which in the direction orthogonal to the vertical line vector and exists on the profile track plane specified in advance are calculated at a vertical vector calculation part 4 and moving direction vector calculation part 5, based on a reaction force. The speed command in the vertical line direction from a force control part 7, and the speed command in the moving direction from a position control part 8 are composed via a control command forming part 6, and the hand is controlled with its movement.

82. 发明专利

JPH04101793A TWO FINGERS HAND 失效
公开(公告)号：JPH04101793A
公开(公告)日：1992-04-03
申请号：JP21582590
申请日：1990-08-17
申请人： FUJITSU LTD
发明人： KOMORIYA HITOSHI , NISHIMOTO KATSUSHI , NAKADA YASUYUKI , YAMAMOTO YASUKI
IPC分类号： B25J15/08
摘要： PURPOSE:To minimize the inclination of a part at the engagement time, by setting the curvature of a curved face equal to the curvature of the short diameter side of an ellipse regulated by a long diameter D/2 and short diameter Dws theta/2, when the inclination of the case of the round bar in a diameter (d) being engaged with a hole with its inclining in the hole is taken as theta. CONSTITUTION:In the case of the holding of a part 104, each finger 11, 12 are fitted in each hole 104b and moved in the direction that each support axes are separated each other. Each finger 11, 12 are engaged with each hole 104b in the state of being inclined at 0 deg. and the part 104 is held. In this case, the curved faces 13b, 14b of fingers 13, 14 are set equal to the curvature of the short diameter side of an ellipse regulated by a long diameter D/2 and short diameter Dcos theta/2. Consequently, the inclination of the part 104 at its engagement time can be minimized.

83. 发明专利

JPH03213281A POSITION CONTROLLER IN HYBRID CONTROL OVER POSITION AND FORCE OF ROBOT 失效
公开(公告)号：JPH03213281A
公开(公告)日：1991-09-18
申请号：JP841090
申请日：1990-01-19
申请人： FUJITSU LTD
发明人： YABUKI AKIHIKO , YOSHIDA YUTAKA , NAKADA YASUYUKI
IPC分类号： B25J9/10 , B25J9/18 , G05B19/19 , G05D3/12
摘要： PURPOSE:To enable the judgement of arrival at a target traveling position even in the case where the target position is interrupted by a work object and thereby perform hydride control over the position and force of a robot by installing such a means as generating a target travel speed during movements by way of setting a traveling direction component in a deviation detected by a deviation detecting means as the travel. CONSTITUTION:The finger traveling direction of a deviation between the desired travel position and the present position of a robot finger detected by a deviation detecting means 16, namely, a target speed at every hour during finger movements comes to be generated by a means 17 from a component in the direction of vector a. This target speed is equivalent to a feed-forward speed command Vow, and a speed command VDW in the position control direction and a speed command Vfw in the force control direction both are added to this target speed and is set down as a speed command.

84. 发明专利

JPH03184787A TRACK SEARCHING SYSTEM FOR ROBOT 失效
公开(公告)号：JPH03184787A
公开(公告)日：1991-08-12
申请号：JP32265489
申请日：1989-12-14
申请人： FUJITSU LTD
发明人： NAKADA YASUYUKI , YABUKI AKIHIKO , YOSHIDA YUTAKA
IPC分类号： B25J9/10 , G05B19/4155
摘要： PURPOSE:To reduce the extent of a burden on an operator by latting a robot perform its contour operation as adding a constant force to an objective surface with an unknown-form discontinuity surface by means of a force control part, on the basis of a calculated contour coordinate system and a track. CONSTITUTION:The present position of a robot 1 or the controlled system is detected by a position detecting element 5 and such a force as acting on the subject by a force detecting element 6, respectively, and on the basis of this information, a control command generating part 7 outputs a force-position command and its parameter to an operating part 2 via a force control part 4 and a position control part 3, thereby controlling all operations of the robot 1. In addition, a normal vector-contour coordinates system of the robot is calculated by a normal vector calculating part 8, while a traveling direction of the robot along the contour coordinate system is calculated as well by a traveling direction vector calculating part 9, and when a robot tip comes off the coordinate system it is restored to the original track by a track searching part 10. Then, on the basis of the calculated contour coordinate system and the track, a contouring operation is performed as adding a constant force to an objective surface with an unknown-form continuity surface by the force control part 4.

85. 发明专利

JPH03184786A TRACK FORMATION SYSTEM FOR ROBOT 失效
公开(公告)号：JPH03184786A
公开(公告)日：1991-08-12
申请号：JP32265289
申请日：1989-12-14
申请人： FUJITSU LTD
发明人： NAKADA YASUYUKI , YABUKI AKIHIKO , YOSHIDA YUTAKA
IPC分类号： B25J9/10 , G05B19/4155 , G05D3/12
摘要： PURPOSE:To dispense with any instruction to a robot with the change of an objective body and the dislocation of the objective body so far performed by an operator of this robot and thereby reduce the extent of a burden on the operator by performing a contouring operation as adding a constant force to a surface of the objective body with an unknown-form curved surface on the basis of a calculated contouring coordinate system, with a force control part. CONSTITUTION:In this system, there are provided with a position control part 3, controlling a robot position on the basis of position coordinates in a position detecting element 5, and a force control part 4 controlling a constant force given to the robot on the basis of the force detected by a force detecting element 6. Likewise, there are provided with a control command generating part 7, performing the transfer of force and position commands and various parameters to the robot, a normal vector calculating part 8, calculating the normal vector of a contact point between the robot and an objective body and also calculating a contour coordinate system, and a shifting vector calculating part 9 calculating a shifting vector of the robot along the contour coordinate system, through which a contouring operation as adding a constant force to a surface of the objective body with an unknown-form curved surface by the force control part, on the basis of the calculated contour coordinates system.

86. 发明专利

JPH0385603A SIGNAL PROCESSING SYSTEM 失效
公开(公告)号：JPH0385603A
公开(公告)日：1991-04-10
申请号：JP22420289
申请日：1989-08-30
申请人： FUJITSU LTD
发明人： YOSHIDA YUTAKA , YABUKI AKIHIKO , NAKADA YASUYUKI
IPC分类号： B25J13/00 , G05B15/02
摘要： PURPOSE:To improve general applicability, and to make configuration compact by inputting a control command and contact input to a ROM module, and outputting its output as contact output. CONSTITUTION:A control register 6 takes in the data of r-bits sent from a central processing unit 1, and sends it as an address to the ROM module 8. A contact input register 7 takes in n-pieces of the contact inputs from a robot, etc., and sends them as the addresses to the ROM module 8. A contact input register 4 takes in the data of m-bits outputted from the ROM module 8 as synchronizing with a clock outputted from a contact output update timing generation circuit 10, and sends it to the robot, etc. In the ROM address of the ROM module 8 corresponding to all the patterns of the contact input and a control signal, bit data corresponding to prescribed output are progammed previously, and a combinational circuit need not be set one by one. Thus, the general applicability is improved, and simultaneously, the configuration becomes compact.

87. 发明专利

JPH0340120A CURSOR KEY CONTROL SYSTEM 失效
公开(公告)号：JPH0340120A
公开(公告)日：1991-02-20
申请号：JP17409789
申请日：1989-07-07
申请人： FUJITSU LTD
发明人： NAKADA YASUYUKI , TAMAMUSHI KAZUO
IPC分类号： G06F3/02 , G06F3/033 , G06F3/038
摘要： PURPOSE:To allow the shift of a cursor to be matched with the human sense and to improve the operability of the cursor by controlling the shift of the cursor based on a contact signal which is outputted by being brought into contact with a movable part provided movably on a plane. CONSTITUTION:When a mobile part 1 is moved in a desired direction by a prescribed distance, the part 1 is brought into contact with one of contact signal generating parts 21 - 2n which are arranged in the moving direction of the part 1. The contact signal generating part brought into contact with the part 1 generates a contact signal and sends this signal to a moving direction discriminating part 3. The part 3 discriminates the moving direction of the part 1 depending from which contact signal generating part the contact signal is generated and transmits a shift control signal showing the corresponding moving direction to a display part 5. Then the part 5 moves the cursor in the corresponding direction and displays it on a screen. Thus, the cursor can be moved while matching with the human sense and the cursor operability is improved.

88. 发明专利

JPH0276010A DIGITAL CONTROLLER 失效
公开(公告)号：JPH0276010A
公开(公告)日：1990-03-15
申请号：JP22944188
申请日：1988-09-13
申请人： FUJITSU LTD
发明人： YOSHIDA YUTAKA , YABUKI AKIHIKO , NAKADA YASUYUKI
IPC分类号： B25J13/00 , G05D3/12
摘要： PURPOSE:To improve the dynamic characteristic and robust ability of a servo system by constituting a digital controller of two microprocessors and one host computer, executing servo control by one microprocessor and executing power control by the other microprocessor. CONSTITUTION:A microprocessor 11 executes servo arithmetic and a microprocessor 12 executes power control arithmetic. The microprocessors 11 and 12 are synchronously operated by the same sampling clock SCK. Accordingly, since a sampling period can be shortened and the arithmetic time delay of the servo can be extremely decreased, the characteristic of a whole control system can be improved. A prescribed command or a parameter can be asynchronously transmitted from the host computer independently from the internal processing of the respective microprocessors.

89. 发明专利

JPH0250247A SENSOR PROCESSING SYSTEM 失效
公开(公告)号：JPH0250247A
公开(公告)日：1990-02-20
申请号：JP20094888
申请日：1988-08-11
申请人： FUJITSU LTD
发明人： YOSHIDA YUTAKA , YABUKI AKIHIKO , NAKADA YASUYUKI
IPC分类号： G06F15/16 , G05B15/02 , G06F15/177
摘要： PURPOSE:To generalize a sensor signal processing program and to speedily execute correspondent processing at the time of signal detection by designating a host computer and a low order computer through a flag. CONSTITUTION:A host computer 1 sets a sensor mounting / unmounting flag HCHKTM, a positive logic / negative logic discriminating flag SGNSNS, a detecting / undetecting flag HRDCHK and a signal detecting time command designating flag HECMD. A low order computer 2 takes in a sensor signal, which is outputted from various sensors 13, refers the sensor mounting / unmounting flag HCHKTM and positive logic / negative logic flag SGNSNS. Then, the taken-in input sensor signal is replaced with positive logic and written to a sensor signal condition storage part STATUS. When the sensor signal to be designated by the detecting / undetecting flag HRDCHK exists in the stored sensor signal of a prescribed value, a command to be designated by the signal detecting time command designating flag HECMD is executed. Thus, the sensor signal processing of the host computer 1 and low order computer 2 is generalized and the correspondent processing can be speedily executed when the sensor signal is detected.

90. 发明专利

JPH01140307A FORCE CONTROLLED ROBOT DEVICE 失效
公开(公告)号：JPH01140307A
公开(公告)日：1989-06-01
申请号：JP29916387
申请日：1987-11-27
申请人： FUJITSU LTD
发明人： NISHIMOTO KATSUSHI , YOSHIDA YUTAKA , YABUKI AKIHIKO , NAKADA YASUYUKI
IPC分类号： B25J9/22 , G05B19/42 , G05B19/425
摘要： PURPOSE:To always stably perform a teaching operation and a teaching reproducing operation by decelerating a speed change response at the time of performing the teaching operation by setting the band area of the secondary filter of a secondary variable responsiveness characteristic processing part at a low level, and accelerating the speed change response at the time of performing the teaching reproducing operation by setting it at a high level. CONSTITUTION:The secondary variable responsiveness characteristic processing part 9 including the secondary filter changeable the band area processes the output signal of a variable dead zone processing part 7, and converts it to a speed signal similarly as a speed signal conversion part. In such a case, the band area of the secondary filter is decelerated at the time of performing the teaching operation by setting the speed change responsiveness at the low level, and it is accelerated at the time of performing the teaching reproducing operation by setting it at the high level. Thereby, it is possible to move the hand of a robot at the time of performing the teaching operation without generating oscillation, and to move the hand of the robot at high speed at the time of performing the teaching reproducing operation following the steep rise of the output signal of a sensor 1.

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