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1. 发明申请

US20170028554A1 ROBOT, CONTROL APPARATUS, AND ROBOT SYSTEM 有权
标题翻译：机器人，控制装置和机器人系统
公开(公告)号：US20170028554A1
公开(公告)日：2017-02-02
申请号：US15208950
申请日：2016-07-13
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1638 , B25J9/1651 , B25J9/1694 , B25J13/088 , G05B2219/37134 , G05B2219/37388 , G05B2219/39195 , G05B2219/40597 , G05B2219/41021 , G05B2219/41025 , Y10S901/46
摘要： A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
摘要翻译：机器人包括设置在机器人手臂中的机器人臂和惯性传感器。使用加权值对来自惯性传感器的输出进行加权来控制机器人手臂。在机器人臂可移动的范围的至少一部分中，当机器人手臂的加速度为第一加速度时，加权值为第一值，并且当加速度从第一值变化到高于第一值时的第二值机器人手臂从第一加速度变化到比第一加速度低的第二加速度。

2. 发明申请

US20160124417A1 AUTOMATIC GAIN ADJUSTMENT SUPPORT DEVICE 审中-公开
标题翻译：自动增益调整支持设备
公开(公告)号：US20160124417A1
公开(公告)日：2016-05-05
申请号：US14922257
申请日：2015-10-26
申请人： FANUC Corporation
发明人： Hajime OGAWA , Junichi TEZUKA
IPC分类号： G05B19/19
CPC分类号： G05B19/404 , G05B2219/37498 , G05B2219/37534 , G05B2219/41016 , G05B2219/41021
摘要： An automatic gain adjustment support device according to this invention supports automatic adjustment of a control gain in a control loop for a servomotor controller which controls a servomotor. The automatic gain adjustment support device includes a frequency characteristic measuring unit, a display unit, a condition setting unit, an automatic gain adjusting unit, and a parameter setting unit. The frequency characteristic measuring unit measures frequency characteristics of the control loop in the servomotor controller. The display unit displays, in Bode diagram form, the frequency characteristics of the control loop. The condition setting unit sets a target gain value at a predetermined frequency. The automatic gain adjusting unit automatically adjusts the control gain in the control loop to the target gain value at the predetermined frequency set by the condition setting unit. The parameter setting unit sets the control gain to the servomotor controller.
摘要翻译：根据本发明的自动增益调节支持装置支持对控制伺服电动机的伺服电机控制器的控制回路中的控制增益的自动调节。自动增益调节支持装置包括频率特性测量单元，显示单元，条件设置单元，自动增益调整单元和参数设置单元。频率特性测量单元测量伺服电机控制器中的控制回路的频率特性。显示单元以波德图形式显示控制回路的频率特性。条件设定单元以预定频率设定目标增益值。自动增益调整单元以由条件设定单元设定的预定频率自动将控制回路中的控制增益调整为目标增益值。参数设置单元将控制增益设置为伺服电机控制器。

3. 发明申请

US20140292250A1 HOST CONTROLLER GENERATING POSITION CONTROL GAIN 有权
标题翻译：主机控制器产生位置控制增益
公开(公告)号：US20140292250A1
公开(公告)日：2014-10-02
申请号：US14229607
申请日：2014-03-28
申请人： FANUC CORPORATION
发明人： Noboru HIROSE
IPC分类号： G05B5/01
CPC分类号： G05B11/01 , G05B19/19 , G05B2219/41021 , G05B2219/41026
摘要： A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).
摘要翻译：参考值生成单元（14b）生成与超驰值为1时的速度指令值相等的基准值。速度指令值生成单元（14c）生成超控值为设定值时的速度指令值值。位置控制增益生成单元（14d）基于速度指令值与参考值的比率和与增益相关的增益相关值，生成由马达控制器（12）使用的位置控制增益，根据上模（9a）设定，并将所生成的位置控制增益输出到存储器（11）。

4. 发明申请

US20070210740A1 CONTROLLER 有权
标题翻译：控制器
公开(公告)号：US20070210740A1
公开(公告)日：2007-09-13
申请号：US11682774
申请日：2007-03-06
申请人： Takashi SATO , Kokoro HATANAKA
发明人： Takashi SATO , Kokoro HATANAKA
IPC分类号： G05D15/00
CPC分类号： G05B13/024 , B25J9/1633 , G05B2219/39322 , G05B2219/39332 , G05B2219/40032 , G05B2219/41021 , G05B2219/42092
摘要： A controller, for force-controlling a drive source of a controlled object, having a position control circuit inside a force control circuit in order to define a relative position of the controlled object to a workpiece, and a contact force occurred between the workpiece and the controlled object, the controller including a first data acquiring portion for acquiring a time constant of the position control circuit based on a position command value to the drive source and an actual position value, during operations of the controlled object; a second data acquiring portion for acquiring a rigidity value for the controlled object and the workpiece based on a force data obtained when the controlled object is brought into contact with the workpiece; and an automatic gain calculating portion for calculating a force control gain of the force control circuit from the time constant of the position control circuit acquired by the first data acquiring portion and the rigidity value acquired by the second data acquiring portion, under conditions where a time constant of the force control circuit is larger than the time constant of the position control circuit.
摘要翻译：一种控制器，用于对控制对象的驱动源进行强制控制，在力控制电路内具有位置控制电路，以便限定受控对象与工件的相对位置，并且在工件和工件之间产生接触力所述控制器包括第一数据获取部分，用于在所述受控对象的操作期间，基于对所述驱动源的位置指令值和实际位置值来获取所述位置控制电路的时间常数; 第二数据获取部分，用于基于当受控对象与工件接触时获得的力数据来获取受控对象和工件的刚度值; 以及自动增益计算部分，用于根据由第一数据获取部分获取的位置控制电路的时间常数和由第二数据获取部分获取的刚性值的时间常数来计算力控制电路的力控制增益，力控制电路的常数大于位置控制电路的时间常数。

5. 发明授权

US5602999A Memory system having a plurality of memories, a plurality of detector circuits, and a delay circuit 失效
标题翻译：具有多个存储器的存储器系统，多个检测器电路和延迟电路
公开(公告)号：US5602999A
公开(公告)日：1997-02-11
申请号：US517005
申请日：1990-04-30
申请人： Gilbert P. Hyatt
发明人： Gilbert P. Hyatt
IPC分类号： B41F33/10 , B60R16/02 , B60R16/037 , F21V23/00 , G01S7/52 , G01S15/89 , G02F1/133 , G03F9/00 , G04G99/00 , G05B1/03 , G05B19/35 , G05B19/408 , G05B19/409 , G05B19/4093 , G05B19/414 , G06F12/02 , G06F13/16 , G06J1/00 , G07G1/12 , G09G5/18 , G10L19/00 , G11C11/56 , G11C19/28 , G11C19/36 , G11C27/00 , G11C27/02 , G11C27/04 , H03H17/02 , G06F12/00
CPC分类号： G03F9/7088 , B60R16/0373 , F21V23/00 , G01S15/897 , G01S15/8977 , G01S7/52026 , G02F1/13318 , G03F9/7049 , G04G99/006 , G05B19/351 , G05B19/408 , G05B19/4083 , G05B19/4086 , G05B19/409 , G05B19/4093 , G05B19/414 , G05B19/4142 , G06F12/0215 , G06F13/16 , G06J1/00 , G07G1/12 , G09G5/18 , G10L19/00 , G11C11/565 , G11C13/0033 , G11C16/3418 , G11C16/3431 , G11C19/287 , G11C19/36 , G11C27/00 , G11C27/024 , G11C27/04 , G11C7/1039 , G11C7/1042 , H03H17/0291 , G05B2219/23094 , G05B2219/33182 , G05B2219/34023 , G05B2219/34098 , G05B2219/34471 , G05B2219/34472 , G05B2219/35262 , G05B2219/35263 , G05B2219/35373 , G05B2219/35381 , G05B2219/35431 , G05B2219/35436 , G05B2219/35453 , G05B2219/35472 , G05B2219/35554 , G05B2219/35588 , G05B2219/36152 , G05B2219/36227 , G05B2219/36333 , G05B2219/36366 , G05B2219/36379 , G05B2219/36395 , G05B2219/36502 , G05B2219/36503 , G05B2219/36506 , G05B2219/36546 , G05B2219/41021 , G05B2219/42237 , G05B2219/45214 , G05B2219/45215 , G05B2219/49221 , G05B2219/50047 , G05B2219/50048 , G05B2219/50083 , G05B2219/50151 , G11C13/04 , G11C7/16 , Y02P90/265
摘要： Memory technologies for storing filter samples include RAMs and CCDs. Adaptive memory capability and memory servo capability improve memory characteristics. In a RAM embodiment, a detector is used to detect a memory address condition and to control the memory and the memory address register in response thereto. In a CCD embodiment, a detector is used to detect a memory reference signal and to refresh the memory signals in response thereto. Improved memory refresh, memory performance, and memory capacity enhance system characteristics. Improved memory architecture provides advantages of increased speed, lower cost, and efficiency of implementation. Information stored in memory can be scanned out at a rate greater than the addressing rate associated with the memories. This permits higher speed operation with lower cost memories. Use of an output buffer, such as a FIFO, permits normalization of memory clock rates.
摘要翻译：用于存储滤波器样本的存储器技术包括RAM和CCD。自适应存储器能力和存储器伺服能力提高了存储器特性。在RAM实施例中，检测器用于检测存储器地址条件并且响应于此而控制存储器和存储器地址寄存器。在CCD实施例中，检测器用于检测存储器参考信号并响应于此刷新存储器信号。改进的内存刷新，内存性能和内存容量增强了系统特性。改进的内存架构提供了增加速度，降低成本和实施效率的优点。可以以大于与存储器相关联的寻址速率的速率扫描存储在存储器中的信息。这允许以更低成本的存储器进行更高速度的操作。使用诸如FIFO之类的输出缓冲器可以使存储器时钟速率正常化。

6. 发明授权

US5168456A Incremental frequency domain correlator 失效
标题翻译：增量频域相关器
公开(公告)号：US5168456A
公开(公告)日：1992-12-01
申请号：US191669
申请日：1988-05-09
申请人： Gilbert P. Hyatt
发明人： Gilbert P. Hyatt
IPC分类号： B60R16/02 , B60R16/037 , F21V23/00 , G01S7/52 , G01S15/89 , G02F1/01 , G02F1/133 , G03F9/00 , G04G99/00 , G05B19/35 , G05B19/408 , G05B19/409 , G05B19/4093 , G05B19/414 , G06F13/16 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/56 , G11C19/28 , G11C19/36 , G11C27/00 , G11C27/02 , G11C27/04 , H03H17/02
CPC分类号： B60R16/0373 , F21V23/00 , G01S15/897 , G01S15/8977 , G01S7/52026 , G02F1/0121 , G02F1/13318 , G03F9/7049 , G03F9/7088 , G04G99/006 , G05B19/351 , G05B19/408 , G05B19/4083 , G05B19/4086 , G05B19/409 , G05B19/4093 , G05B19/414 , G05B19/4142 , G06F13/16 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/565 , G11C13/0033 , G11C16/3418 , G11C16/3431 , G11C19/287 , G11C19/36 , G11C27/00 , G11C27/024 , G11C27/04 , G11C7/1039 , H03H17/0291 , G05B2219/23094 , G05B2219/33182 , G05B2219/34023 , G05B2219/34098 , G05B2219/34471 , G05B2219/34472 , G05B2219/35262 , G05B2219/35263 , G05B2219/35373 , G05B2219/35381 , G05B2219/35431 , G05B2219/35436 , G05B2219/35453 , G05B2219/35472 , G05B2219/35554 , G05B2219/35588 , G05B2219/36152 , G05B2219/36227 , G05B2219/36333 , G05B2219/36366 , G05B2219/36379 , G05B2219/36395 , G05B2219/36502 , G05B2219/36503 , G05B2219/36506 , G05B2219/36546 , G05B2219/41021 , G05B2219/42237 , G05B2219/45214 , G05B2219/45215 , G05B2219/49221 , G05B2219/50047 , G05B2219/50048 , G05B2219/50083 , G05B2219/50151 , G11C13/04 , G11C7/16 , Y02P90/265
摘要： A filter processor provides improved capabilities and reduced complexity by inputting and processing lower resolution signals and by generating higher resolution filtered signals. In a preferred embodiment; an incremental filter processor generates incremental input signals, performs incremental processing, and generates multi-bit filtered signals. Input signals are received from radar, sonar, seismic, or other sources; are processed by the filter processor to generate filtered signals; and can be post processed by a post processor. In a preferred embodiment, the input circuit is a serial input and parallel output circuit, such as a delay line or a CCD; the filter processor is an incremental fast Fourier transform processor; and the post processor is an incremental frequency domain correlator. Other post processors include a frequency domain integrator and an RSS post processor to convert coherent signal samples to noncoherent signal samples.
摘要翻译：滤波器处理器通过输入和处理较低分辨率的信号并产生较高分辨率的滤波信号来提供改进的能力和降低的复杂性。在优选实施例中; 增量滤波器处理器产生增量输入信号，执行增量处理，并产生多位滤波信号。从雷达，声纳，地震或其他来源接收输入信号; 由滤波器处理器处理以产生滤波信号; 并可以由后处理器进行后处理。在优选实施例中，输入电路是诸如延迟线或CCD之类的串行输入和并行输出电路; 滤波处理器是增量式快速傅里叶变换处理器; 并且后处理器是增量的频域相关器。其他后处理器包括频域积分器和RSS后处理器，用于将相干信号样本转换为非相干信号采样。

7. 发明授权

US4825364A Monolithic data processor with memory refresh 失效
标题翻译：具有内存刷新的单片数据处理器
公开(公告)号：US4825364A
公开(公告)日：1989-04-25
申请号：US402520
申请日：1973-10-01
申请人： Gilbert P. Hyatt
发明人： Gilbert P. Hyatt
IPC分类号： B60R16/02 , B60R16/037 , F21V23/00 , G01S7/52 , G01S15/89 , G02F1/133 , G03F9/00 , G04G99/00 , G05B19/35 , G05B19/408 , G05B19/409 , G05B19/4093 , G05B19/414 , G06F12/00 , G06F13/12 , G06F13/16 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/56 , G11C19/28 , G11C19/36 , G11C27/00 , G11C27/02 , G11C27/04 , G06F1/00 , G06F13/00
CPC分类号： B60R16/0373 , F21V23/00 , G01S15/897 , G01S15/8977 , G01S7/52026 , G02F1/13318 , G03F9/7049 , G03F9/7088 , G04G99/006 , G05B19/351 , G05B19/408 , G05B19/4083 , G05B19/4086 , G05B19/409 , G05B19/4093 , G05B19/414 , G05B19/4142 , G06F13/12 , G06F13/16 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/565 , G11C16/3418 , G11C16/3431 , G11C19/287 , G11C19/36 , G11C27/00 , G11C27/024 , G11C27/04 , G05B2219/33182 , G05B2219/34023 , G05B2219/34098 , G05B2219/34471 , G05B2219/34472 , G05B2219/35262 , G05B2219/35263 , G05B2219/35373 , G05B2219/35431 , G05B2219/35436 , G05B2219/35453 , G05B2219/35472 , G05B2219/35554 , G05B2219/36152 , G05B2219/36333 , G05B2219/36366 , G05B2219/36379 , G05B2219/36503 , G05B2219/36546 , G05B2219/41021 , G05B2219/42237 , G05B2219/45214 , G05B2219/45215 , G05B2219/49221 , G05B2219/50047 , G05B2219/50048 , G05B2219/50083 , G05B2219/50151 , G11C7/16 , Y02P90/265
摘要： An improved data processor architecture is provided having integrated circuit (IC) memories. Provision is made for dynamic memories with a memory refresh arrangement. Memory refresh is provided in response to instruction execution, synchronized with computer control signals to minimize contension or conflicts with computer operations and to share control circuitry.
摘要翻译：提供了具有集成电路（IC）存储器的改进的数据处理器架构。提供了具有存储器刷新布置的动态存储器。响应于指令执行提供存储器刷新，与计算机控制信号同步以最小化与计算机操作的冲突或共享控制电路。

8. 发明授权

US4810945A Numerical control feed device for machine tool 失效
标题翻译：机床数控加料装置
公开(公告)号：US4810945A
公开(公告)日：1989-03-07
申请号：US171222
申请日：1988-03-22
申请人： Takao Yoneda , Haruo Ohmura
发明人： Takao Yoneda , Haruo Ohmura
IPC分类号： B23Q15/013 , G05B19/23 , G05D3/12 , G05B19/25
CPC分类号： G05B19/232 , G05B2219/33261 , G05B2219/41021 , G05B2219/41186 , G05B2219/41442 , G05B2219/45218 , Y02P90/265
摘要： In a numerical control feed device, an objective velocity signal is produced from the difference between command pulses from a numerical controller, which indicative of an objective feed amount and an objective feed rate for a slide of a machine tool, and a feedback feed amount from a pulse generator driven by a servomotor. A subtraction circuit calculates a difference signal based on the objective velocity signal and a feedback velocity signal from a tachogenerator also driven by the servomotor and applies the difference signal to a drive amplifier for driving the servomotor. A frequency-voltage converter generates a feedforward velocity signal depending on the frequency of the command pulses. A gain adjustable amplifier amplifies the feedforward velocity signal at the amplifying ratio designated by the numerical controller and outputs the amplified feedforward velocity signal to the subtraction circuit for addition. The numerical controller determines the amplifying ratio based on various parameters such as the mechanical characteristic of the machine tool, the shape of a workpiece to be machined, an objective feed rate used in an instantaneous machining operation, and so forth.
摘要翻译：在数控加料装置中，根据来自数值控制器的指令脉冲之间的差异产生物镜速度信号，该数值控制器表示机床的滑动件的客观进给量和目标进给速率，以及来自由伺服电机驱动的脉冲发生器。减法电路基于目标速度信号和来自也由伺服电动机驱动的转速发电机的反馈速度信号来计算差信号，并将差分信号施加到用于驱动伺服电动机的驱动放大器。频率 - 电压转换器根据指令脉冲的频率产生前馈速度信号。增益可调放大器以数字控制器指定的放大倍率放大前馈速度信号，并将放大的前馈速度信号输出到减法电路以进行相加。数值控制器基于机床的机械特性，待加工工件的形状，瞬时加工操作中使用的物料进给速度等各种参数来确定放大率。

9. 发明授权

US4744042A Transform processor system having post processing 失效
标题翻译：具有后处理的变换处理器系统
公开(公告)号：US4744042A
公开(公告)日：1988-05-10
申请号：US676769
申请日：1984-11-30
申请人： Gilbert P. Hyatt
发明人： Gilbert P. Hyatt
IPC分类号： B60R16/02 , B60R16/037 , F21V23/00 , G01S7/52 , G01S15/89 , G02F1/133 , G03F9/00 , G04G99/00 , G05B19/35 , G05B19/408 , G05B19/409 , G05B19/4093 , G05B19/414 , G06F13/12 , G06F13/16 , G06F17/14 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/56 , G11C19/28 , G11C19/36 , G11C27/00 , G11C27/02 , G11C27/04 , G06F15/332
CPC分类号： B60R16/0373 , F21V23/00 , G01S15/897 , G01S15/8977 , G01S7/52026 , G02F1/13318 , G03F9/7049 , G03F9/7088 , G04G99/006 , G05B19/351 , G05B19/408 , G05B19/4083 , G05B19/4086 , G05B19/409 , G05B19/4093 , G05B19/414 , G05B19/4142 , G06F13/12 , G06F13/16 , G06J1/00 , G07G1/12 , G10L19/00 , G11C11/565 , G11C16/3418 , G11C16/3431 , G11C19/287 , G11C19/36 , G11C27/00 , G11C27/024 , G11C27/04 , G11C7/1039 , G05B2219/33182 , G05B2219/34023 , G05B2219/34098 , G05B2219/34471 , G05B2219/34472 , G05B2219/35262 , G05B2219/35263 , G05B2219/35373 , G05B2219/35431 , G05B2219/35436 , G05B2219/35453 , G05B2219/35472 , G05B2219/35554 , G05B2219/36152 , G05B2219/36333 , G05B2219/36366 , G05B2219/36379 , G05B2219/36503 , G05B2219/36546 , G05B2219/41021 , G05B2219/42237 , G05B2219/45214 , G05B2219/45215 , G05B2219/49221 , G05B2219/50047 , G05B2219/50048 , G05B2219/50083 , G05B2219/50151 , G11C7/16 , Y02P90/265
摘要： An incremental digital filter provides high speed and low cost capability such as for performing fast Fourier transforms (FFTs), correlations, convolutions, and other digital filter operations. One configuration operates at microwave sample rates, computing a complete 512-point FFT in 0.2 microseconds for an effective sample rate of 2.56 gigahertz. High speed and low cost are derived from a parallel pipeline architecture in combination with incremental processing. Parallel pipeline architecture provides extremely high speed while the incremental mechanization provides a simple arrangement with a low component count for low cost. The incremental nature of the processor provides an integrating type mechanization, where integration-after-transformation yields high processing gain for signal-to-noise-ratio enhancement.High data rate input and output mechanizations are provided to accommodate the high processing rates. An improved input mechanization involves analog signal to incremental digital conversion. An improved output mechanization involves integration after filtering for data rate reductions and for signal enhancement and also involves a bus output structure for multiplexing of output parameters.
摘要翻译：增量数字滤波器提供高速和低成本的能力，例如用于执行快速傅里叶变换（FFT），相关性，卷积和其他数字滤波器操作。一个配置以微波采样率运行，计算0.2微秒的完整512点FFT，有效采样率为2.56千兆赫兹。并行流水线架构与增量处理相结合，从而实现了高速和低成本。并行管道架构提供极高的速度，而增量机械化提供了一种简单的布置，低成本的低元件数量。处理器的增量特性提供了一种积分型机械化，其中积分转换后产生高信噪比增益的处理增益。提供高数据速率输入和输出机械化以适应高处理速率。改进的输入机械化涉及模拟信号到增量数字转换。改进的输出机械化涉及对数据速率降低和信号增强进行滤波后的集成，还涉及用于多路复用输出参数的总线输出结构。

10. 发明授权

US4719397A Method and apparatus for tape dispensing servo tracking control 失效
标题翻译：磁带分配伺服跟踪控制方法及装置
公开(公告)号：US4719397A
公开(公告)日：1988-01-12
申请号：US34887
申请日：1987-04-06
申请人： Ralph W. Kneifel, II , David C. Swope
发明人： Ralph W. Kneifel, II , David C. Swope
IPC分类号： G05B19/37 , G05B19/10
CPC分类号： G05B19/371 , G05B2219/36417 , G05B2219/41021 , G05B2219/41118 , G05B2219/45238
摘要： An apparatus and method is disclosed for controlling motion of a tape dispensing apparatus or the like in response to both computer change in position signals and proportional and integral tracking error signals to maintain a desired conformal relationship between the tape dispensing apparatus and a contoured surface. The level of responsiveness to computer change in position signals versus tracking error signals is adjustable depending upon the severity of the contour so as to optimize servo tracking where necessary.
摘要翻译：公开了一种用于响应于位置信号的计算机变化和比例和积分跟踪误差信号来控制带分配装置等的运动的装置和方法，以保持带分配装置与轮廓表面之间的期望的保形关系。根据轮廓的严重程度，对位置信号对跟踪误差信号的计算机变化的响应程度是可调整的，以便在必要时优化伺服跟踪。

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