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1. 发明授权

US4956789A Method and apparatus for driving a servo system while suppressing residual vibration generated during position control 失效
标题翻译：用于驱动伺服系统同时抑制在位置控制期间产生的残余振动的方法和装置
公开(公告)号：US4956789A
公开(公告)日：1990-09-11
申请号：US192135
申请日：1988-05-10
申请人： Yoosuke Hamada , Hiromu Hirai , Isao Kobayashi
发明人： Yoosuke Hamada , Hiromu Hirai , Isao Kobayashi
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B2219/37275 , G05B2219/37351 , G05B2219/41117 , G05B2219/41218 , G05B2219/41367 , G05B2219/41374 , G05B2219/42162 , G05B2219/45026
摘要： When a move command (data indicating to move a movable unit from one position to a target position) is issued, a movable unit is displaced in response to the move command. A target trajectory which is an aggregation of target positions varying with time is determined such that a residual vibration of a structure at and after the stop of displacement of the movable unit is minimized. Target positions at various times during the displacement of the movable unit are generated based on the target trajectory. The target positions at various times are supplied to a control unit which feeds back an actual position of the movable unit and produces a drive signal which makes a difference from the target position zero. The drive signal is supplied to an actuator so that a drive force is transmitted from the actuator to the movable unit which follows a change in the target position. As a result, the movable unit is moved to the target position and the vibration at and after the stop of movement is suppressed.
摘要翻译：当发出移动指令（指示将可移动单元从一个位置移动到目标位置的数据）时，可移动单元响应于移动命令而移位。确定作为时间变化的目标位置的聚集的目标轨迹，使得可移动单元的位移停止和停止之后的结构的残余振动最小化。基于目标轨迹产生在移动单元的位移期间的不同时刻的目标位置。不同时刻的目标位置被提供给控制单元，该控制单元反馈可移动单元的实际位置并产生与目标位置零差异的驱动信号。驱动信号被提供给致动器，使得驱动力从致动器传递到跟随目标位置的改变的可移动单元。结果，可移动单元移动到目标位置，并且抑制了停止移动时和之后的振动。

2. 发明申请

US20050261867A1 Inertia identification for electric actuators with observer based controls 有权
标题翻译：具有基于观察员的控制器的电动执行器的惯性识别
公开(公告)号：US20050261867A1
公开(公告)日：2005-11-24
申请号：US10848424
申请日：2004-05-18
申请人： Gregory Molenaar
发明人： Gregory Molenaar
IPC分类号： G06F15/00
CPC分类号： G05B19/21 , G05B2219/41374 , G05B2219/42237 , Y10T477/692
摘要： A method to automatically identify the inertia of an actuator (and the like) and load for tuning an observer-based controller is presented. The tuning is a one-time process that is initiated by a user when the actuator is installed. The control includes a model of the actuator with state feedback to set the desired dynamics.
摘要翻译：提出了一种自动识别致动器（或类似物）的惯性和用于调整基于观察者的控制器的负载的方法。调整是由用户在执行器安装时启动的一次性过程。该控制包括具有状态反馈的致动器的模型以设定所需的动力学。

3. 发明授权

US5396434A Machining-error correcting method used for a non-circular shape machining apparatus 失效
标题翻译：用于非圆形加工装置的加工误差校正方法
公开(公告)号：US5396434A
公开(公告)日：1995-03-07
申请号：US996402
申请日：1992-12-23
申请人： Hiroshi Oyama , Kenji Ito
发明人： Hiroshi Oyama , Kenji Ito
IPC分类号： G05B19/18 , G05B19/404 , G06F15/46
CPC分类号： G05B19/184 , G05B2219/41374 , G05B2219/45218 , G05B2219/50053
摘要： A machining-error of a non-circular shape machining apparatus is corrected by controlling a movement of a tool which is synchronous with a rotation of a workpiece. A position of the tool is detected when the tool is according to a command position which is coincident with or close to a target position of the tool. At least an amplitude ratio and a phase difference of an amplitude ratio, a phase difference, and an offset difference between the target position and the detected position; is obtained. At least a process of increases and/or reducing the command position and a process of phase shift of the process for increasing and/or reducing the command position on the basis of the amplitude ratio, a process for shifting a phase on the basis of the phase difference, and a process for changing an offset of the command position on the basis of the offset difference are performed, whereby a first corrected command position is obtained. The detected position of the tool can be made to coincide with the target position quickly since the target position and the detected position are determined as a waveform, which is divided into an amplitude, a phase, an offset and a distorsion.
摘要翻译：通过控制与工件的旋转同步的工具的移动来校正非圆形加工装置的加工误差。当工具根据与刀具的目标位置一致或接近的命令位置时，检测刀具的位置。振幅比，相位差和目标位置与检测位置之间的偏移差的振幅比和相位差至少为一个; 获得。至少基于振幅比增加和/或减小指令位置和用于增加和/或减少指令位置的处理的相移的处理，基于相位差，并且执行用于基于偏移差改变指令位置的偏移的处理，从而获得第一校正指令位置。由于目标位置和检测到的位置被确定为波形，所以能够快速地检测出刀具的检测位置与目标位置一致，该波形被分为幅度，相位，偏移和偏差。

4. 发明申请

US20180147724A1 ROBOT CONTROL DEVICE, A ROBOT CONTROL METHOD, AND A PICKING DEVICE 审中-公开
公开(公告)号：US20180147724A1
公开(公告)日：2018-05-31
申请号：US15687902
申请日：2017-08-28
申请人： Kabushiki Kaisha Toshiba
发明人： Junji OAKI
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1638 , B25J9/1676 , G05B2219/39186 , G05B2219/39353 , G05B2219/39355 , G05B2219/41374 , G05B2219/41387
摘要： According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.

5. 发明授权

US08155790B2 Robot control apparatus 有权
标题翻译：机器人控制装置
公开(公告)号：US08155790B2
公开(公告)日：2012-04-10
申请号：US12597958
申请日：2009-09-28
申请人： Junichiro Oga , Junji Oaki , Hideki Ogawa
发明人： Junichiro Oga , Junji Oaki , Hideki Ogawa
IPC分类号： G06F19/00 , B25J13/08
CPC分类号： B25J9/1633 , G05B2219/39353 , G05B2219/39355 , G05B2219/41374 , G05B2219/41387
摘要： A robot control apparatus includes: a drive unit (101) driving an actuator (115) based on a torque command value; a drive torque estimation unit (107) estimating a drive torque from a joint shaft angle; an external torque calculation unit (108) calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit (105) calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit (109) calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit (110) calculating a correction amount from the external force.
摘要翻译：机器人控制装置包括：驱动单元，其基于转矩指令值驱动致动器; 驱动扭矩估计单元，从关节轴角度估计驱动扭矩; 外部扭矩计算单元，计算所述推定驱动转矩与所述转矩指令值之差作为外部转矩; 雅可比矩阵计算单元，基于所述关节轴角计算雅可比矩阵; 计算来自雅可比矩阵和外部扭矩的外力的外力计算单元（109）; 以及校正量计算单元，从外力计算校正量。

6. 发明申请

US20110060460A1 ROBOT CONTROL APPARATUS 有权
标题翻译：机器人控制装置
公开(公告)号：US20110060460A1
公开(公告)日：2011-03-10
申请号：US12597958
申请日：2009-09-28
申请人： Junichiro Oga , Junji Oaki , Hideki Ogawa
发明人： Junichiro Oga , Junji Oaki , Hideki Ogawa
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39353 , G05B2219/39355 , G05B2219/41374 , G05B2219/41387
摘要： A robot control apparatus includes: a drive unit (101) driving an actuator (115) based on a torque command value; a drive torque estimation unit (107) estimating a drive torque from a joint shaft angle; an external torque calculation unit (108) calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit (105) calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit (109) calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit (110) calculating a correction amount from the external force.
摘要翻译：机器人控制装置包括：驱动单元，其基于转矩指令值驱动致动器; 驱动扭矩估计单元，从关节轴角度估计驱动扭矩; 外部扭矩计算单元，计算所述推定驱动转矩与所述转矩指令值之差作为外部转矩; 雅可比矩阵计算单元，基于所述关节轴角计算雅可比矩阵; 计算来自雅可比矩阵和外部扭矩的外力的外力计算单元（109）; 以及校正量计算单元，从外力计算校正量。

7. 发明授权

US07027961B2 Inertia identification for electric actuators with observer based controls 有权
标题翻译：具有基于观察员的控制器的电动执行器的惯性识别
公开(公告)号：US07027961B2
公开(公告)日：2006-04-11
申请号：US10848424
申请日：2004-05-18
申请人： Gregory A. Molenaar
发明人： Gregory A. Molenaar
IPC分类号： G06F15/00
CPC分类号： G05B19/21 , G05B2219/41374 , G05B2219/42237 , Y10T477/692
摘要： A method to automatically identify the inertia of an actuator (and the like) and load for tuning an observer-based controller is presented. The tuning is a one-time process that is initiated by a user when the actuator is installed. The control includes a model of the actuator with state feedback to set the desired dynamics.
摘要翻译：提出了一种自动识别致动器（或类似物）的惯性和用于调整基于观察者的控制器的负载的方法。调整是由用户在执行器安装时启动的一次性过程。该控制包括具有状态反馈的致动器的模型以设定所需的动力学。

8. 发明授权

US5115418A Servo control apparatus 失效
标题翻译：伺服控制装置
公开(公告)号：US5115418A
公开(公告)日：1992-05-19
申请号：US587450
申请日：1990-09-25
申请人： Akira Shimada
发明人： Akira Shimada
IPC分类号： B25J9/16 , G05B13/02 , G05B19/19
CPC分类号： B25J9/163 , G05B13/023 , G05B19/19 , G05B2219/41112 , G05B2219/41367 , G05B2219/41374
摘要： A servo control apparatus for controlling according to a position command signal an object in a mechanical drive system having a position detector.A state observer is receptive of a drive torque signal and a position detection signal from the position detector for processing these signals to estimate concurrently a disturbance torque and velocity of the object to output an estimated disturbance torque signal and an estimated velocity signal.A position control processor is receptive of the position command signal, the position detection signal, the estimated disturbance signal and the estimated velocity signal for processing these signals to carry out positive feedback of the estimated disturbance torque signal and velocity feedback compensation by the estimated velocity signal to thereby produce the drive torque signal effective to control the object and to cancel out an actual disturbance torque generated in the object.
摘要翻译：一种用于根据位置指令信号控制具有位置检测器的机械驱动系统中的物体的伺服控制装置。状态观察者接收来自位置检测器的驱动扭矩信号和位置检测信号，用于处理这些信号，同时估计物体的扰动转矩和速度，以输出估计的扰动转矩信号和估计的速度信号。位置控制处理器接收位置指令信号，位置检测信号，估计干扰信号和估计速度信号，以处理这些信号，以通过估计的速度信号执行估计的干扰转矩信号和速度反馈补偿的正反馈从而产生有效控制物体的驱动扭矩信号，并消除在物体中产生的实际扰动转矩。

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