公开(公告)号：US5369568A

公开(公告)日：1994-11-29

申请号：US779999

申请日：1991-10-21

Applicant: Jin-Il Song

Inventor： Jin-Il Song

IPC: B25J9/10 ,  B25J9/18 ,  G05B19/25 ,  G05D3/12 ,  G05B19/04

CPC classification number: G05B19/253

Abstract: This invention relates to a position controlling method for a robot in which a residual vibration is suppressed during the position controlling of a horizontal multiple articulation robot or an orthogonal robot. High speed position control is possible. A sampling time is reduced by executing acceleration and deceleration with a discrete time state equation. Highly precise control for a robot is obtained by a method which determines the maximum movement amount from the movement amount of each axis at an input pulse number computing step. The method also seeks the number of input pulses moved at every sampling time in the case of no acceleration and deceleration. The method further seeks the input pulse of the axis except the axis of maximum movement amount from the number of input pulses. The aiming position of each axis at every sampling time is computed using the discrete time state equation. The present position of each axis is detected. Proportional integral and differential PID controls are executed, and outputs are provided as a driving signal to a servomotor.

Abstract translation: 本发明涉及一种在水平多关节机器人或正交机器人的位置控制期间抑制残余振动的机器人的位置控制方法。 高速位置控制是可能的。 通过使用离散时间状态方程执行加速和减速来减少采样时间。 通过在输入脉冲数计算步骤中从每个轴的移动量确定最大移动量的方法来获得机器人的高精度控制。 该方法还寻求在无加速和减速的情况下在每个采样时间移动的输入脉冲数。 该方法进一步寻求除了输入脉冲数的最大移动量的轴之外的轴的输入脉冲。 使用离散时间状态方程计算每个采样时刻各轴的瞄准位置。 检测各轴的当前位置。 执行比例积分和微分PID控制，并将输出作为驱动信号提供给伺服电机。

公开(公告)号：US5379367A

公开(公告)日：1995-01-03

申请号：US813925

申请日：1991-12-27

Applicant: Jin-Il Song

Inventor： Jin-Il Song

IPC: B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/25 ,  G05B19/416 ,  G05B21/02 ,  G05B19/415 ,  B25J13/00

CPC classification number: B25J9/1679 ,  G05B19/253 ,  G05B2219/34132 ,  G05B2219/39002 ,  G05B2219/42033 ,  G05B2219/42207 ,  G05B2219/42255

Abstract: A linear interpolating method used for controlling the movement of a robot in which a speed distribution at the time of linear movement of a multi-articular robot involves a linear acceleration and deceleration so that precision of movement is improved at a driving start point and an end point of the robot. Linear acceleration and deceleration are realized by a discrete time state equation so that a sampling time is reduced and the precision of a straight line is improved while making high speed movement possible. The method computes a positional deviation on the basis of the present position and a target position and then exact driving is maintained via compensating for positional deviation.

Abstract translation: 用于控制多关节机器人线性运动时的速度分布的机器人的运动的线性内插方法涉及线性加速和减速，从而在驾驶开始点和结束时改善运动精度 点的机器人。 通过离散时间状态方程式实现线性加速和减速，从而降低采样时间，提高直线的精度，同时实现高速运动。 该方法基于当前位置和目标位置计算位置偏差，然后通过补偿位置偏差来维持精确驱动。