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1. 发明申请

WO1995004312A1 METHOD AND SYSTEM FOR PATH PLANNING IN CARTESIAN SPACE 审中-公开
标题翻译：卡特彼勒空间路径规划方法与系统
公开(公告)号：WO1995004312A1
公开(公告)日：1995-02-09
申请号：PCT/US1994008285
申请日：1994-07-22
申请人： FANUC ROBOTICS NORTH AMERICA, INC.
发明人： FANUC ROBOTICS NORTH AMERICA, INC. , CHENG, Sai-Kai , TSAI, Chi-Keng
IPC分类号： G05B05/01
CPC分类号： B25J9/1656 , G05B19/416 , G05B19/4182 , G05B2219/40523 , G05B2219/43005 , G05B2219/43009 , G05B2219/43105 , Y02P90/083 , Y02P90/20
摘要： Method and system for trajectory or path planning to move a device such as a robot along a Cartesian path to achieve high path accuracy and ease of programming. Cascaded linear filters (50) are utilized to perform acceleration/deceleration control in Cartesian space having six Cartesian components. Generally, six sets of such linear filters are used, three for location components and three for orientation components. Cartesian path blending is also provided. First and second path segments are planned and blended together and a corner distance is formed at a transition between the first and second path segments. A method is also provided for adjusting the corner distance. The corner distance is adjusted by corner distance variables which are independent of program speed so that the resultant Cartesian path can be maintained regardless of program speed changes.
摘要翻译：用于轨迹或路径规划的方法和系统，用于沿笛卡尔路径移动诸如机器人的设备，以实现高路径精度和易于编程。级联线性滤波器（50）用于在具有六个笛卡尔分量的笛卡尔空间中执行加速/减速控制。通常使用6组这种线性滤波器，3组用于定位组件，3组用于定向组件。还提供笛卡尔路径混合。第一和第二路径段被计划并混合在一起，并且在第一和第二路径段之间的过渡处形成拐角距离。还提供了一种用于调节拐角距离的方法。通过与程序速度无关的角距离变量来调整拐角距离，以便无论程序速度变化如何，都可以维持所得到的直角轨迹。

2. 发明申请

WO1998008149A1 ACCELERATION/DECELERATION CONTROL METHOD 审中-公开
标题翻译：加速/减速控制方法
公开(公告)号：WO1998008149A1
公开(公告)日：1998-02-26
申请号：PCT/JP1997002946
申请日：1997-08-25
申请人： FANUC LTD , KATO, Tetsuaki , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/43005 , G05B2219/43129
摘要： At a corner part where a smooth motion is instructed, cos theta (wherein theta denotes a corner angle) is obtained (A3 - A5). Then a coefficient (k) is obtained (A6) by a following formula: (k) = 1 + 0.5(1 - cos theta ). A value T obtained by multiplying a positioning time constant T0 by the coefficient (k) (A7) is used as a deceleration time constant Tb and an acceleration time constant Ta (A9 and A11). At theta = 0 (straight line), (k) = 1 and then Ta = T0 and Tb = T0. In a reversing motion, theta = 180 DEG and (k) = 2. Then Ta = 2T0 and Tb = 2T0. Thus the time constants are adjusted and the acceleration/deceleration can be processed in a minimum time within the limit value of the output torque of a servomotor.
摘要翻译：在指示平滑运动的角部，获得cosθ（其中θ表示角角）（A3-A5）。然后通过以下公式获得系数（k）（A6）：（k）= 1 + 0.5（1-cosθ）。使用通过将定位时间常数T0乘以系数（k）（A7）而获得的值T作为减速时间常数Tb和加速时间常数Ta（A9和A11）。在θ= 0（直线），（k）= 1，然后Ta = T0和Tb = T0。在反转运动中，θ= 180°，（k）= 2。那么Ta = 2T0和Tb = 2T0。因此，调整时间常数，并且可以在伺服电动机的输出转矩的极限值内的最小时间内处理加速/减速。

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