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热词
    • 110. 发明授权
    • Method for detecting contact position
    • 检测接触位置的方法
    • US6008612A
    • 1999-12-28
    • US182207
    • 1998-10-30
    • Toshiki TanakaMitsuyasu Kachi
    • Toshiki TanakaMitsuyasu Kachi
    • G05D3/12G05B1/06
    • G05B19/416G05B19/401G05B2219/37405G05B2219/37411
    • A movable body is moved towards an object for contact, it is determined whether a representative load for driving load such as a current instruction value for a servo amplifier providing controls for movement of the movable body has exceeded a reference value or not, and when the current instruction value exceeds the reference value, positional data for the body at this point of time is written in a memory, difference between the current instruction value and the reference value at this point of time and on is accumulated, and when the accumulated difference value reaches a specified value, a position indicated by the positional data in the memory is regarded as a contact position.
    • 移动体朝向接触物体移动时,确定用于驱动负载的代表性负载,例如提供用于移动体的移动的控制的伺服放大器的当前指令值是否已经超过参考值,并且当 当前指令值超过参考值时,在该时间点的身体的位置数据被写入存储器中,累积当前指令值与该时间点和开启时的基准值之间的差异,并且当累加的差值 达到指定值时,由存储器中的位置数据指示的位置被认为是接触位置。