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1. 发明专利

JPS6428705A COMMAND GENERATING SYSTEM 失效
公开(公告)号：JPS6428705A
公开(公告)日：1989-01-31
申请号：JP18356387
申请日：1987-07-24
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KURA SHUKAKU , AZUMA KISHIO
IPC分类号： G05B19/18 , G05B19/404
摘要： PURPOSE:To attain a tracing control of a multi-axis machine with high accuracy by correcting a command of other axes while taking the characteristic of the servo system into account with respect to one axis subject to linear approximation when a command function to each axis is given. CONSTITUTION:The servo system such as an NC or a robot is considered normally as a simple system to be independent n-axis and commands f1(t), f2(t)...f0(t) calculated in advance as functions are given to the servo system in advance. Then the f1(t) is rewritten as a function being constant in a minute section (T

2. 发明专利

JPH0394308A POSITION COMMAND GENERATION SYSTEM FOR MULTIAXIS MACHINE 失效
公开(公告)号：JPH0394308A
公开(公告)日：1991-04-19
申请号：JP23050289
申请日：1989-09-07
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KAMIYA TATSUO , KURA SHUKAKU
IPC分类号： G05B19/416
摘要： PURPOSE:To guarantee the linearity of operation to execute linear operation and to prevent a machine from being excessively shocked by providing a multiaxis machine with a position command function calculating part to apply a smoothed position command. CONSTITUTION:The multiaxis machine is provided with the position command function calculating part and the velocity Voi (i=1 to n) of respective axes which is momentarily applied, the velocity loop gain Kv of respective axes and a time interval Ti for applying the Voi are inputted to the calculation part. In the case of executing linear operation by a lamp input command, a position command is generated so that joints of continuous lamp commands are approximated with a prescribed curve. In the multiaxis machine constituted of a servo mechanism having two axes or more, the prevention of excess torque and the linearity of operation can be guaranteed at the time of starting/stopping the machine.

3. 发明专利

JPH02294705A METHOD FOR GENERATING CIRCULAR ARC COMMAND 失效
公开(公告)号：JPH02294705A
公开(公告)日：1990-12-05
申请号：JP11508589
申请日：1989-05-10
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KURA SHUKAKU , HIRAGA YOSHIJI
IPC分类号： G05B19/4103
摘要： PURPOSE:To accurately and rapidly generate a circular arc command by finding the integrals of a differential equation for simple harmonic motion by a repeat calculation method in the case of drawing a circular arc orbit by two optional axes and applying a position and a speed to be the integrals to the 1st and 2nd axes or the 2nd and 1st axes of the circular arc operation. CONSTITUTION:The integral of the differential equation for simple harmonic motion is found out by the repeat calculation method in the case of drawing a circular arc locus by using two optional axes, and when the circular arc orbit is counterclockwise, the operating direction is corrected. Then, the position integral of the differential equation is provided to the 1st or 2nd axis, while the speed integral is provided to the 2nd or the 1st axis. Thus, functions can highly accurately and rapidly be generated by utilizing differential equations and this method can effectively be utilized for the function generation in NC machine tools, robots, and so on.

4. 发明专利

JPH0115881B2 失效
公开(公告)号：JPH0115881B2
公开(公告)日：1989-03-22
申请号：JP9820182
申请日：1982-06-08
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： FUTAMI SHIGERU , KURA SHUKAKU , NANAI SADAAKI
IPC分类号： F16H25/20 , G05B11/36 , G05B13/00 , G05B19/416 , G05D3/12 , G05G15/06

5. 发明专利

JPS63288696A ROBOT-OPERATION ABNORMALITY MONITOR SYSTEM 失效
公开(公告)号：JPS63288696A
公开(公告)日：1988-11-25
申请号：JP12526387
申请日：1987-05-21
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KURA SHUKAKU , HISAIE SHIGENOBU
IPC分类号： B25J19/06

6. 发明专利

JPS63268011A FOLLOW-UP CONTROL METHOD BETWEEN TWO SERVO SYSTEMS 失效
公开(公告)号：JPS63268011A
公开(公告)日：1988-11-04
申请号：JP10180387
申请日：1987-04-27
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KURA SHUKAKU , HIRAGA YOSHIJI , AZUMA KISHIO , NAKAO YOSHIYUKI , KITANO TOSHIYUKI
IPC分类号： G05D3/00 , G05D3/12 , H02P5/00 , H02P5/54
摘要： PURPOSE:To realize the accurate synchronous control between two control objects having different response characteristics, by correcting the command value given to a system having a fast response while observing a command given to a servo system of a slow response and its response. CONSTITUTION:A 1st servo system (slow response system) and a 2nd servo system (fast response system) are shown at the higher and lower stages respectively in a diagram. A position command xS of the 2nd servo system obtained by sampling the signal xS of the 2nd servo system is multiplied by a correction coefficient K1. Thus a 1st correction signal. Simultaneously,a 2nd correction signal is obtained by multiplying a speed command f (t) of the 1st servo system by a correction coefficient K2. These two correction signals are added together and the speed deviation of a speed control system of the 2nd servo system is corrected.

7. 发明专利

JPS62103708A CONTROL SYSTEM FOR ROBOT CONTROL DATA 失效
公开(公告)号：JPS62103708A
公开(公告)日：1987-05-14
申请号：JP24169785
申请日：1985-10-30
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KAWARABATA SHIYUUSAKU , KURA SHUKAKU
IPC分类号： G05B19/18 , G05B19/4155
摘要： PURPOSE:To eliminate wrong reference to position data, trouble due to interference between programs during position registration, and a load on and waste of double registration of position data by controlling position files by program groups which refer to them. CONSTITUTION:Local position files 2-1, 2-2,...,2-N and a global file 3 are related with corresponding operation programs 1-1, 1-2,...,1-N. In the respective operation programs 1-1-1-N, '&' for a local position file or 'S' for a global position file is added in front of a label name indicating, for example, a position, so that a position file to be referred to is discriminated. Further, '%' is added in front of a label indicating, for example, a position in the operation programs 1-1 and 1-2 to indicate that a relative position file 4 is to be referred to.

8. 发明专利

JPH03171206A POSITION COMMAND GENERATION METHOD FOR MULTI-AXIS MACHINE 失效
公开(公告)号：JPH03171206A
公开(公告)日：1991-07-24
申请号：JP30941189
申请日：1989-11-30
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： KURA SHUKAKU , HIRAGA YOSHIJI
IPC分类号： G05B19/4103 , G05B19/404
摘要： PURPOSE:To attain highly precise orbit control by giving a specified command function being the function of time to respective axes with a certain axis as a reference when a space curve is approximated to a polygonal line. CONSTITUTION:When the space curve is approximated to the polygonal line, the interpolation command of a straight line is given by expressions I and II when an X-axis and a Y-axis are set to be x1(t) and y1(t). Here, VY/VX=K and (VX +VY ) :moving speed. When the gains of respective axes are set to be Kx and Ky and (m) is selected as an expression III, y(t)/x(t)=K is satisfied in spite of the values of KY and KX. Thus, the command for the other axis can previously be corrected by considering the characteristic of a servo system with the command of one axis which is approximated to the straight line as the reference, and highly precise orbit control can be realized without increasing an operation time for every sampling period.

9. 发明专利

JPH0127441B2 失效
公开(公告)号：JPH0127441B2
公开(公告)日：1989-05-29
申请号：JP9819782
申请日：1982-06-08
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： FUTAMI SHIGERU , KURA SHUKAKU
IPC分类号： G05B11/32 , G05B1/01 , G05D3/12 , G05D3/14

10. 发明专利

JPS62214403A CALIBRATION METHOD OF ROBOT SYSTEM WITH VISUAL SENSOR 失效
公开(公告)号：JPS62214403A
公开(公告)日：1987-09-21
申请号：JP5715686
申请日：1986-03-17
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： HATANAKA FUSAAKI , HIRAKAWA KIYOSHI , GONDO SATOSHI , KURA SHUKAKU
IPC分类号： B25J9/16 , B25J9/10 , B25J13/08 , G05B19/18
摘要： PURPOSE:To make the hand-eye operation possible in a wide range by using another camera and a work for calibration though a camera is not capable of calibration because of an obstacle or the like. CONSTITUTION:When a work 5 is handled with a robot 6 in the calibration method in a robot system with visual sensor, cameras 1 and 2 and their picture processing devices are used to obtain coordinates of centers of holes 41 and 43 in both ends of the work 5, and a gripping point of the robot 6 is obtained in accordance with these two coordinates to handle the work 5. With respect to a camera 3, a work 4 for calibration is so moved that holes 41 and 42 are within the visual field of the camera 2 and the hole 43 is within the visual field of the camera 3, and calibration is performed with the camera 2.

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