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1. 发明授权

US5659480A Method for coordinating motion control of a multiple axis machine 失效
标题翻译：用于协调多轴机器运动控制的方法
公开(公告)号：US5659480A
公开(公告)日：1997-08-19
申请号：US495284
申请日：1995-06-27
申请人： Robb Gary Anderson , Robert D. Lorenz , Andrew Joseph Meyer
发明人： Robb Gary Anderson , Robert D. Lorenz , Andrew Joseph Meyer
IPC分类号： B23Q1/62 , B23Q5/40 , B23Q17/22 , G05B19/416 , G06F19/00 , B23D7/00 , G05B19/10 , G06F15/00
CPC分类号： B23Q5/40 , B23Q1/623 , B23Q17/22 , G05B19/416 , G05B2219/43162 , G05B2219/50218 , G05B2219/50229 , Y10T409/309576
摘要： A multiple axis machine includes a plurality of servo-motors that produce movement of a member in at least two axes. The servo-motors are controlled by a computer which runs a simulation of a line shaft power train for producing movement of the member. Specifically, characteristics of a line shaft for powering the machine are defined along with characteristics of a pair of mechanical linkages with dynamically variable kinematics that are driven by the line shaft to produce movement along the two axes. The computer simulates a virtual line shaft using the line shaft characteristics and produces an angular acceleration, an angular velocity and an angular position of the virtual line shaft. The computer also simulates a pair of virtual mechanical linkages with dynamically variable kinematics based upon the linkage characteristics, and based on the angular acceleration, angular velocity and angular position of the virtual line shaft. The simulations produce control signals that operate actuators for each axis of the machine, and produce dynamically variable kinematic feedback force signals which are applied to the simulation of the virtual line shaft to simulate dynamically variable kinematic forces exerted by the mechanical linkages on the virtual line shaft.
摘要翻译：多轴机器包括多个伺服电动机，其在至少两个轴上产生构件的运动。伺服电动机由运行模拟线轴传动系的计算机控制，以产生构件的运动。具体来说，用于为机器供电的线轴的特征与具有动态可变运动学的一对机械连杆的特性一起被定义，所述机械连杆由线轴驱动以产生沿着两个轴的运动。计算机使用线轴特性来模拟虚拟线轴，并产生虚拟线轴的角加速度，角速度和角位置。计算机还基于联动特性，并且基于虚拟线轴的角加速度，角速度和角位置来模拟一对具有动态可变运动学的虚拟机械联动。模拟产生控制信号，其操作机器的每个轴的致动器，并产生动态可变的运动学反馈力信号，其被施加到虚拟线轴的模拟，以模拟由机械连杆施加在虚拟线轴上的动态变化的运动力。

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