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1. 发明专利

JPH05324036A PATH FUNCTION SEQUENTIAL GENERATING METHOD 失效
公开(公告)号：JPH05324036A
公开(公告)日：1993-12-07
申请号：JP12499592
申请日：1992-05-18
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , KAKIZAKI TAKAO , MEGURO SHINICHI , KOGURE KENJI
IPC分类号： B25J9/10 , B25J13/08 , B25J19/02 , G05B19/4093 , G05B19/4155 , G06F7/00 , G06F19/00 , G05B19/403 , G06F15/20
摘要： PURPOSE:To provide the path function sequential generating method for representing a path with a spline function which has sensing error suppression characteristics and high-precision path reproducibility and is smoothly connected over the entire section of the path. CONSTITUTION:A sensor 4 outputs the reliability of attitude data together with the position of the path and the attitude data. Then (m) of (n+1) degrees of freedom of the path function of an (i)th section to be generated 5 are determined from (m) conditions of connection with an (i-fl)th section which is already generated, and the remaining (n+1-m) degrees of freedom are generated by applying a weighted method of least squares to >=(n+1-m+1) path data with the reliability outputted from the sensor 4 corresponding to the path following the (i-l)th section, thereby determining the path function of the (i)th section.

2. 发明专利

JPS56120902A DETECTING METHOD FOR POSITION 失效
公开(公告)号：JPS56120902A
公开(公告)日：1981-09-22
申请号：JP2460380
申请日：1980-02-28
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , HORIKAWA HIROSHI
IPC分类号： G01B11/00 , G01D5/36
摘要： PURPOSE:To improve resolving power and S/N ratio and thereby perform highly precise detection of a position by performing the detection of the position by using a pattern based on two-valued random numbers or a pattern based on M series or pluralistic M series which are excellent in autocorrelation property. CONSTITUTION:A pair of scales 2 and 3 having patterns prepared, for instance, on the basis of two-valued random numbers of thirty-one cycles (01001010011010 10101110100111010) wherein 1 is assigned to the pass of light and 0 to the interception thereof and constituted by a part 7 passing light and a part 8 intercepting light are used, and the scale 2 is fixed, while the scale 3 is set on a moving body. And the light from a light source 1 passing through windows 7 moving in parallel to each other is detected through the random patterns on the scales 2 and 3 by a detector 4. By detecting the position of coincidence of both random patterns, the coincidence of positions of bodies moving in parallel relatively is detected.

3. 发明专利

JPH07266272A FOLLOW-UP METHOD AND DEVICE FOR MANIPULATOR 失效
公开(公告)号：JPH07266272A
公开(公告)日：1995-10-17
申请号：JP5912294
申请日：1994-03-29
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： UMENO HIKARI , NONAKA KIYOSHI , KAKIZAKI TAKAO
IPC分类号： B25J9/10 , B25J9/18 , B25J13/08 , G05B19/42 , G05B19/425
摘要： PURPOSE:To provide a follow-up method and device for manipulators which can make a processing means follow a machining path with high reliability and accuracy. CONSTITUTION:Using plural pieces of detection information 2 which are obtained in time series, detection reliability that indicates the certainty of the information is calculated, and corrected information 6 which is weighted by the detection reliability corresponding to the plural pieces of detection information is calculated, and instruction information originated from instruction data 4 is corrected 15 using corrected information 6 so as to achieve correction 7 of manipulator operating commands whenever necessary.

4. 发明专利

JPH04343107A PATH START POINT DETECTION AND GUIDING METHOD 失效
公开(公告)号：JPH04343107A
公开(公告)日：1992-11-30
申请号：JP11476291
申请日：1991-05-20
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , KAKIZAKI TAKAO , KOGURE KENJI
IPC分类号： B25J9/10 , B25J13/08 , G05B19/19 , G05B19/4093 , G05B19/4103 , G05B19/42
摘要： PURPOSE:To guide an end effector to a path start point with a simple instruction method and a simple procedure. CONSTITUTION:Approximate values of the positions and attitudes of a path start point P1' and a point P2' on the same path near the point P1' are instructed. A linear function related to the space passing these two points is determined from these instruction data, and the function is extrapolated on this side of the point P1' to form a temporary access path 4. An end effector 2 and a path information detection means 4 are moved based on a temporary access path function 8 so that the path information detection means 4 can be located on this side of the point P1'. A path start point P1 is detected while controlling the position and attitude of the end effector 2. The m-th function related to the space smoothly connecting the path to a point P3 of the end effector 2 on the temporary access path 8 and the point P1 is obtained and is set as an access path function 9. Subsequently, the end effector 2 is smoothly led to the point P1 along an access path 9.

5. 发明专利

JPS61278903A NONLINEAR CONTROL CIRCUIT 失效
公开(公告)号：JPS61278903A
公开(公告)日：1986-12-09
申请号：JP12023385
申请日：1985-06-03
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI
IPC分类号： G05B11/36 , G05B13/00
摘要： PURPOSE:To constitute arbitrarily a control system having the response, matching specification and deviation suppression characteristics, which a designer intends, by generating an arbitrary drive force in a nonlinear type with respect to the combinations of a following error signal, its differential and integral values. CONSTITUTION:The following error signals from a discriminater 2 are passed through a differentiation circuit 3 and an integration circuit 5 as they are converted into digital signals by A/D converters 5-7, and inputted as the address signal of a drive force data generating ROM 8. then drive force data deciding the drive force which a DC brushless motor 11 has to generate is outputted as an output with respect to the combination of said values to a D/A converter 9, Its output is inputted to a constant current drive circuit 10, drives the DC brushless motor 11 and a control system 12.

6. 发明专利

JPS53137614A AUTOMATIC EQUALIZING SYSTEM FOR DATA DELIVERY 失效
公开(公告)号：JPS53137614A
公开(公告)日：1978-12-01
申请号：JP5198077
申请日：1977-05-09
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , SHIMADA MASAHARU
IPC分类号： H03H21/00 , H03H15/00 , H03H17/00 , H04B3/06 , H04L25/03
摘要： PURPOSE:To automatically equalize the performance of attenuation for the transmission line not uniform for the relation between the loss at flat part and the deviation of loss.

7. 发明专利

JPH10340117A METHOD FOR REDUCING PATH ERROR IN THREE-DIMENSIONAL CURVE, ITS DEVICE AND USED RECORD MEDIUM 失效
公开(公告)号：JPH10340117A
公开(公告)日：1998-12-22
申请号：JP14969397
申请日：1997-06-06
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , MUTO NOBUHIRO , TEZUKA HIROHISA , KATAYAMA ATSUSHI
IPC分类号： G05B19/4093 , G05B19/4103 , G06F17/00 , G06F19/00 , G06Q50/00 , G06Q50/04 , G06T11/20
摘要： PROBLEM TO BE SOLVED: To reduce the effects of errors that are included in curve length that is calculated with the integration of linear distance connecting sensor data by using an amount that is represented by a specific expression which is calculated from a function value that is acquired by substituting the integrated value of a chord length into a spline function. SOLUTION: A p*k calculating and storing means 21 assigns su+k to a spline function Pk (s ) in a section S k-1 k and the coordinate (p*k ) of a Q*k point on a spline function that corresponds to (Qk ) is calculated. Next, an s*k calculating and storing means 22 calculates a new (s) value (s*k ) that corresponds to curve length (s k ) as the integrated value of linear distance between coordinates (p*k ) based on an expression. In the expression, d*i represents an Euclidean norm of a vector (p*i -p*i-1 ). S =s t that corresponds to s*=st is calculated from correspondence relation of (s k ) and (s*k ), and a Pm (s t ) calculating means 27 substitutes it into a spline function Pm (s ) and calculates the position and posture with s=st .

8. 发明专利

JPH10291178A TEACHING DATA CORRECTING METHOD FOR WORKING ROUTE FOLLOW-UP TYPE ROBOT MANIPULATOR 失效
公开(公告)号：JPH10291178A
公开(公告)日：1998-11-04
申请号：JP10219397
申请日：1997-04-18
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI , MUTO NOBUHIRO , TEZUKA HIROHISA
IPC分类号： B25J9/10 , B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a teaching data correcting method for working route follow-up type robot manipulator which generates more accurate teaching data automatically at less teaching cost. SOLUTION: The position and style of a working route 2 on an object are detected by time series using a detecting means 5 while a playback operation of the object used for teaching is performed based on the teaching data given beforehand. Also the relative position and style teaching data to be taken for the working route 2 in which a working means 4 is detected at each teaching point are added as necessary so as to calculate the more accurate corrected teaching data than the teaching data given beforehand. In addition, the teaching data given beforehand is re-written using the corrected teaching data so as to correct the teaching data of a manipulator.

9. 发明专利

JPH07141008A SUCCESSIVE CONTROL METHOD FOR SENSOR ORIENTING DIRECTION 失效
公开(公告)号：JPH07141008A
公开(公告)日：1995-06-02
申请号：JP28507393
申请日：1993-11-15
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NONAKA KIYOSHI
IPC分类号： B25J9/10 , B25J13/08 , G05B19/18 , G05B19/19 , G05D3/12
摘要： PURPOSE:To control the orienting direction of a sensor with high accuracy by directly detecting the deviation between the center of a sensor view field and a target path image each time sensing is performed, and positioning the sensor so that the deviation becomes '0'. CONSTITUTION:Assuming that a path position 6 is detected by performing i-th sensing at a target position 3 of an end effector, a unit vector 8(WeE) directed from the target position 3 to the path position 6 is decided by using these data. Next, a unit vector 11(WeEi) is calculated from a unit vector 8(EeEPi) and a unit vector 9(WeE) based on the expression. In this case, the inside of internal small parentheses for a denominator and a numerator in the expression expresses the outer product vector of the unit vector WeE and the unit vector WeEPi. Thus, since a target value is decided, servo is executed. This operation is repeated in each servo cycle and afterwards, (i+1)th sensing is performed. By repeating this processing, the orienting direction of the sensor is properly controlled.

10. 发明专利

JPH06138930A COPYING CONTROL METHOD/DEVICE FOR MACHINING/ASSEMBLING DEVICE 失效
公开(公告)号：JPH06138930A
公开(公告)日：1994-05-20
申请号：JP29302692
申请日：1992-10-30
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： MUTO NOBUHIRO , SHIMOKURA KENICHIRO , NONAKA KIYOSHI
IPC分类号： B23Q35/12 , B25J13/00 , G05B13/04 , G05B19/18 , G05B19/408 , G05B19/4093 , G05B19/4155 , G05B19/403
摘要： PURPOSE:To provide a copying control method/device which is applied to a job having a varying contact point by estimating the shape of a machining subject or a parts to be assembled based on the information on the contact point detected in real time and then generating a moving path of a tool or the parts to be assembled. CONSTITUTION:A computer 33 calculates a contact point between a tool 21 and a machining subject 22 and then calculates a velocity conditional function from a normal vector and the parallel moving velocity vector of the tool 21. Then the computer 33 calculates a distance function between the contact point and an intersecting point between the acting line of the acting force and the tool 21 and then calculates an evaluation function from the velocity conditional function and the distance function. Then the computer 33 estimates the shape of the subject 22 and its moving path by a weighting least square method and based on the weighting coefficient obtained from the evaluation functions of plural past contact points. Furthermore the computer 33 produces the control target value of the tool 21 based on those estimated moving path and the work specifications. Thus it is possible to to estimate the moving path of the subject 22 with high accuracy and to improve the expanding performance and the universal applicability of the work.

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