公开(公告)号：US09465381B2

公开(公告)日：2016-10-11

申请号：US14946646

申请日：2015-11-19

申请人： FANUC Corporation

发明人： Kazunori Iijima

IPC分类号： G05B1/02 ,  G05B19/19

CPC分类号： G05B19/19 ,  G05B11/011 ,  G05B2219/41144

摘要： A servo control device includes: a speed control loop including a speed command generating unit, a torque command generating unit, and a speed detecting unit; a sine wave disturbance input unit; a frequency response calculating unit estimating a gain and phase of speed control loop input/output signals; a resonance frequency detecting unit; a resonance mode characteristic estimating unit estimating resonance characteristics from the frequency response at a resonance frequency and frequencies therearound; a rigid-body mode characteristic estimating unit estimating rigid-body characteristics from the frequency response in a low-frequency band; a filter attenuating a component in a particular frequency band in a torque command; and a filter adjusting unit making setting so that the filter has specified characteristics. The filter adjusting unit further includes a filter adjusting part attenuating a component in a frequency band corresponding to a resonance mode estimated by the resonance mode characteristic estimating unit.

摘要翻译： 伺服控制装置包括：速度控制回路，包括速度指令生成单元，转矩指令生成单元和速度检测单元; 正弦波干扰输入单元; 频率响应计算单元，估计速度控制环路输入/输出信号的增益和相位; 谐振频率检测单元; 谐振模式特性估计单元，根据谐振频率和其周围的频率根据频率响应估计谐振特性; 刚体模式特性估计单元，从低频带中的频率响应估计刚体特性; 滤波器，用于在扭矩指令中衰减特定频带中的分量; 以及过滤器调节单元，使得过滤器具有特定的特征。 滤波器调整单元还包括滤波器调整部件，衰减与由谐振模式特性估计单元估计的谐振模式相对应的频带中的分量。

公开(公告)号：US20160075030A1

公开(公告)日：2016-03-17

申请号：US14853150

申请日：2015-09-14

申请人： CANON KABUSHIKI KAISHA

发明人： Toshiya Takahashi

IPC分类号： B25J9/16

CPC分类号： B25J9/1694 ,  B25J9/1687 ,  G05B2219/39332 ,  G05B2219/40032 ,  G05B2219/41144 ,  Y10S901/09

摘要： A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency Fc1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency Fc2 having a frequency higher than the cutoff frequency Fc1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation.

摘要翻译： 设置在机器人手臂和机器人手之间的力检测器检测力Fx，Fy和Fz。 机器人控制器通过截止频率Fc1的第一低通滤波器对力Fx和Fy执行滤波处理，使机器人手移动，使得力Fx和Fy变小，校正机器人手臂的轨迹，执行 通过频率高于截止频率Fc1的截止频率Fc2的第二低通滤波器对力Fz进行滤波处理，对力Fz进行阈值判定，并且当力Fz时停止机器人手的移动 在装配操作期间超过阈值。

公开(公告)号：US07496415B2

公开(公告)日：2009-02-24

申请号：US11442155

申请日：2006-05-30

申请人： Souichi Toyama ,  Yaichi Okubo

发明人： Souichi Toyama ,  Yaichi Okubo

IPC分类号： G06F19/00

CPC分类号： G05B19/21 ,  G05B2219/41144 ,  G05B2219/41186 ,  G05B2219/41232 ,  G05B2219/45165

摘要： A digital servo control unit which uses a D/A converter, which suppresses the spike-like pulsation superimposed on a current error signal inside a current control circuit, and which has control performance not lower than that in the background art even when a low-voltage and low-price power supply circuit is used. A first-order low pass filter acts on an analog signal output by the D/A converter, and a stabilizing compensation occurs for a phase delay caused by the first-order low pass filter. The first-order low pass filter is formed as a low pass filter having a cut-off frequency which is lower than a sampling frequency. The first-order low pass filter may be replaced by a notch filter having a cut-off frequency which is equal to a sampling frequency or which is equal to an integer multiple of a Nyquist frequency.

摘要翻译： 一种数字伺服控制单元，其使用D / A转换器，其抑制叠加在电流控制电路内的电流误差信号上的尖状脉动，并且其控制性能不低于背景技术的控制性能， 使用电压和低价电源电路。 一阶低通滤波器作用于由D / A转换器输出的模拟信号，并且由一阶低通滤波器引起的相位延迟发生稳定补偿。 一阶低通滤波器形成为具有低于采样频率的截止频率的低通滤波器。 一阶低通滤波器可以由具有等于采样频率或等于奈奎斯特频率的整数倍的截止频率的陷波滤波器代替。

公开(公告)号：US20060271232A1

公开(公告)日：2006-11-30

申请号：US11442155

申请日：2006-05-30

申请人： Souichi Toyama ,  Yaichi Okubo

发明人： Souichi Toyama ,  Yaichi Okubo

IPC分类号： G06F19/00

CPC分类号： G05B19/21 ,  G05B2219/41144 ,  G05B2219/41186 ,  G05B2219/41232 ,  G05B2219/45165

摘要： There is provided a digital servo control unit which uses a D/A converter, which suppresses the spike-like pulsation superimposed on a current error signal inside a current control circuit, and which has control performance not lower than that in the background art even when a low-voltage and low-price power supply circuit is used. The digital servo control unit has a first-order low pass filter acting on an analog signal output by the D/A converter, and a stabilizing compensation means for compensating a phase delay caused by the first-order low pass filter. An output signal of the first-order low pass filter is input to a current control circuit as a current command signal. The first-order low pass filter is formed as a low pass filter having a cut-off frequency which is lower than a sampling frequency. The first-order low pass filter may be replaced by a notch filter having a cut-off frequency which is equal to a sampling frequency or which is equal to an integer multiple of a Nyquist frequency.

摘要翻译： 提供了一种数字伺服控制单元，其使用D / A转换器，其抑制叠加在电流控制电路内的电流误差信号上的尖状脉动，并且具有不低于背景技术的控制性能，即使当 使用低电压和低价格的电源电路。 数字伺服控制单元具有作用于由D / A转换器输出的模拟信号的一阶低通滤波器，以及用于补偿由一阶低通滤波器引起的相位延迟的稳定补偿装置。 一级低通滤波器的输出信号作为电流指令信号输入到电流控制电路。 一阶低通滤波器形成为具有低于采样频率的截止频率的低通滤波器。 一阶低通滤波器可以由具有等于采样频率或等于奈奎斯特频率的整数倍的截止频率的陷波滤波器代替。

公开(公告)号：US5946449A

公开(公告)日：1999-08-31

申请号：US832391

申请日：1997-04-02

申请人： Stephen Lang Dickerson ,  Wayne J. Book ,  Nader Sadegh

发明人： Stephen Lang Dickerson ,  Wayne J. Book ,  Nader Sadegh

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/404

CPC分类号： B25J9/1697 ,  G05B2219/37563 ,  G05B2219/37565 ,  G05B2219/37572 ,  G05B2219/41116 ,  G05B2219/41117 ,  G05B2219/41144 ,  G05B2219/41423 ,  Y10S700/90

摘要： An apparatus which allows one to maintain precision placement of a manipulator which undergoes repeated controlled motions or trajectories is provided. The structure of the apparatus is compliant such that the manipulator may be displaced by forces applied to the mechanical structure. This compliance is due to a lack of precision in the fabrication of the component parts of the machine, and to a lack of rigidity due to a lightweight design. This displacement is of a greater magnitude than the precision positioning tolerance of the apparatus. Consequently, the manipulator may then be displaced outside of the positioning tolerance due to applied forces. However, it is a characteristic of the present invention, that despite the compliance of the mechanical structure of the apparatus, the positioning tolerance will be maintained. The controlled motion is accomplished by the generation of control signals by computer software running on a computer control system. The control software enables the system to run at much greater speeds while not exciting unwanted movement or vibration in the compliant mechanical structure.

摘要翻译： 提供一种允许维持经受重复的受控运动或轨迹的操纵器的精确放置的装置。 该装置的结构是柔顺的，使得操纵器可能被施加到机械结构上的力所取代。 这种符合性是由于机器的部件的制造缺乏精度，以及由于轻量化设计而缺乏刚性。 该位移比设备的精度定位公差大得多。 因此，由于施加的力，机械手然后可以移动到定位公差之外。 然而，本发明的特征在于，尽管符合装置的机械结构，但是将保持定位公差。 通过在计算机控制系统上运行的计算机软件产生控制信号来实现受控运动。 控制软件使系统能够以更高的速度运行，同时不会在顺从的机械结构中刺激不必要的运动或振动。