知搜-全球专利检索

  1. Login
  2. Sign Up

Search Results

11 records (took 0.017 seconds)

    Method for supervision of the movement control of a manipulator
    1.
    发明授权
    Method for supervision of the movement control of a manipulator 有权
    操纵器运动控制监控方法

    公开(公告)号：US06218801B1

    公开(公告)日：2001-04-17

    申请号：US09403612

    申请日：2000-03-07

    Applicant: Torgny Brogårdh ,  Staffan Elfving ,  Ingvar Jonsson ,  Stig Moberg ,  Fredrik Skantze

    Inventor： Torgny Brogårdh ,  Staffan Elfving ,  Ingvar Jonsson ,  Stig Moberg ,  Fredrik Skantze

    IPC: G05B2302

    CPC classification number: B25J9/1674 ,  G05B2219/39178 ,  G05B2219/39187 ,  G05B2219/39194 ,  G05B2219/39237 ,  G05B2219/40226 ,  G05B2219/42307

    Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (&psgr;)}m), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (&psgr;m), the current speed ({dot over (&psgr;)}m), the current acceleration ({umlaut over (&psgr;)}m) any of the dynamic parameters, the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.

    Abstract translation: 一种用于监视机械手的运动控制的方法。 操纵器包括至少一个移动轴线，伺服机构（9），用于根据提供的位置，速度和加速度的参考值（psiref，{dot over（psi）} ref，{umlaut over（psi）} ref ）。 根据轴的位置和速度的参考值和描述机器人的静态和动态属性的动态模型（7）来计算多个动态参数（dyn-par）。 根据伺服的控制误差转矩（＆Tgr; err），伺服产生转矩信号（＆tgr; mr）。 计算报警值（LV）作为当前加速度（{umlaut over（psi）} m）的函数，至少动态参数和以下信号中的一个或多个：控制误差转矩（＆tgr; err ），加速度的参考值（{umlaut over（psi）} ref）和来自伺服（＆tgr; mr）的转矩信号，以及使用一个或多个信号滤波器时。 根据一个或多个以下参数计算报警极限（LG）：常数，当前位置（psim），当前速度（{dot over（psi）} m），当前加速度（{umlaut 超过（psi）} m）任何动态参数，伺服的控制误差转矩（＆Tgr; err），加速度的参考值（{umlaut over（psi）} ref）和来自伺服的转矩信号 ＆tgr; mr）。 将报警值与报警限值进行比较，并根据比较生成报警信号（ALARM）。

    Robot control apparatus and method
    2.
    发明授权
    Robot control apparatus and method 有权
    机器人控制装置及方法

    公开(公告)号：US07212886B2

    公开(公告)日：2007-05-01

    申请号：US10735241

    申请日：2003-12-12

    Applicant: Hideo Nagata ,  Kenichi Yasuda ,  Yasuyuki Inoue

    Inventor： Hideo Nagata ,  Kenichi Yasuda ,  Yasuyuki Inoue

    IPC: G06F19/00

    CPC classification number: B25J9/1633 ,  G05B2219/39188 ,  G05B2219/39237 ,  G05B2219/40342

    Abstract: A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

    Abstract translation: 一种机器人控制装置，包括：运动转矩计算部，其计算伺服电动机的运动所需的运动转矩指令;扰动转矩估计部，计算扰动转矩;微分位移关系计算部，计算微小位移关系 在机器人的任务坐标系与伺服电动机的联合坐标系之间，对所述任务坐标系进行向外力的转换的外力计算部，对所述任意坐标系的外力进行位置修正量的力控制部 机器人的任务坐标系，以及关节角度校正量计算部，用于对关节坐标系进行关节角修正量的转换。

    Control apparatus of robot
    3.
    发明授权
    Control apparatus of robot 有权
    机器人控制装置

    公开(公告)号：US07433758B2

    公开(公告)日：2008-10-07

    申请号：US10584281

    申请日：2004-12-16

    Applicant: Jun Hagihara

    Inventor： Jun Hagihara

    IPC: G06F19/00

    CPC classification number: B25J9/1602 ,  G05B2219/39237 ,  G05B2219/41195 ,  G05B2219/50216

    Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided. A control apparatus of a robot includes: a plurality of shafts interfering with each other; each of the shafts including a motor (8), (18), an arm (9), (19) coupled to the motor (8), (18) via a spring element such as a speed reducer and a motor position detector (10), (20) for detecting a position of the motor (8), (18); a position control unit (1), (11) and a speed control unit (2), (12) in order to operate each of the shafts in correspondence with an instruction for each of the plural shafts; an interference force calculating unit (7), (17) for calculating interference force which is exerted to another shaft from an instruction of the own shaft; a non-interference torque signal forming unit (6), (16) for forming a motor torque instruction signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force exerted from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft; and a non-interference position signal producing unit (5), (15) for producing a motor position signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force executed from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft.

    Abstract translation: 提供了一种能够大大减少计算量以降低CPU负载的机器人控制装置。 机器人的控制装置包括：多个轴彼此干涉的轴; 每个轴包括通过诸如减速器的弹簧元件和马达位置检测器（8）的马达（8），（18），联接到马达（8），（18）的臂（9），（19） （10），（20），用于检测电机（8）的位置，（18）; 位置控制单元（1），（11）和速度控制单元（2），（12），以便与每个所述多个轴的指令相对应地操作每个轴; 用于根据自身轴的指令计算施加到另一轴的干涉力的干涉力计算单元（7），（17）; 一种用于形成电动机转矩指令信号的非干扰转矩信号形成单元（6），（16），用于形成电动机转矩指令信号，通过该电动机转矩指令信号，自动轴与指令相对应地操作，在这种情况下，存在来自另一个轴施加的干涉力的情况基于 从另一轴施加的干涉力的计算值和自身轴的指令; 以及用于产生电动机位置信号的无干扰位置信号产生单元（5），（15），用于在基于另一个轴执行的干涉力存在的情况下，根据该指令产生自身轴的操作，基于 从另一轴施加的干涉力的计算值和自身轴的指令。

    Robot control apparatus and method
    4.
    发明申请
    Robot control apparatus and method 有权
    机器人控制装置及方法

    公开(公告)号：US20040128030A1

    公开(公告)日：2004-07-01

    申请号：US10735241

    申请日：2003-12-12

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Hideo Nagata ,  Kenichi Yasuda ,  Yasuyuki Inoue

    IPC: G06F019/00

    CPC classification number: B25J9/1633 ,  G05B2219/39188 ,  G05B2219/39237 ,  G05B2219/40342

    Abstract: A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

    Abstract translation: 一种机器人控制装置，包括：运动转矩计算部，其计算伺服电动机的运动所需的运动转矩指令;扰动转矩估计部，计算扰动转矩;微分位移关系计算部，计算微小位移关系 在机器人的任务坐标系与伺服电动机的联合坐标系之间，对所述任务坐标系进行向外力的转换的外力计算部，对所述任意坐标系的外力进行位置修正量的力控制部 机器人的任务坐标系，以及关节角度校正量计算部，用于对关节坐标系进行关节角修正量的转换。

    ROBOT CONTROLLER HAVING COMPONENT PROTECTING FUNCTION AND ROBOT CONTROL METHOD
    6.
    发明申请
    ROBOT CONTROLLER HAVING COMPONENT PROTECTING FUNCTION AND ROBOT CONTROL METHOD 审中-公开
    机器人控制器具有组件保护功能和机器人控制方法

    公开(公告)号：US20090200978A1

    公开(公告)日：2009-08-13

    申请号：US12342804

    申请日：2008-12-23

    Applicant: Tetsuaki Kato ,  Shougo Inagaki

    Inventor： Tetsuaki Kato ,  Shougo Inagaki

    IPC: G05B9/02

    CPC classification number: B25J9/1674 ,  G05B2219/39237 ,  G05B2219/39261 ,  G05B2219/40525 ,  G05B2219/41367 ,  G05B2219/41373 ,  G05B2219/41381

    Abstract: A robot controller and a robot control method, by which each element constituting a robot is protected. An output of a rotary encoder attached to a servomotor is read, and the motor speed is obtained by calculating the difference between a current speed and another speed in a previous speed loop. Then, a processor of the servo controller of each link of a robot arm executes a normal speed loop control in order to calculate a torque command of the motor. Next, a load torque is estimated by using the obtained torque command and the motor speed, and the estimated load torque in each speed loop is compared with a predetermined threshold. If the load torque is larger than the threshold in at least one of the axes, the robot controller judges that an abnormality has occurred in the robot, generates an alarm or warning, and then controls the robot so as to protect the element.

    Abstract translation: 机器人控制器和机器人控制方法，通过该机器人控制方法保护构成机器人的每个元件。 读取附接到伺服电动机的旋转编码器的输出，并且通过计算当前速度和先前速度循环中的另一速度之间的差来获得电动机速度。 然后，机器人臂的每个链路的伺服控制器的处理器执行正常速度回路控制，以便计算电动机的转矩指令。 接下来，通过使用获得的转矩指令和电动机速度来估计负载转矩，并将每个速度环路中的估计负载转矩与预定阈值进行比较。 如果在至少一个轴上的负载转矩大于阈值，则机器人控制器判断机器人发生异常，产生报警或警告，然后控制机器人，以保护元件。

    Control apparatus of robot
    7.
    发明申请
    Control apparatus of robot 有权
    机器人控制装置

    公开(公告)号：US20070164695A1

    公开(公告)日：2007-07-19

    申请号：US10584281

    申请日：2004-12-16

    Applicant: Jun Hagihara

    Inventor： Jun Hagihara

    IPC: B25J9/18

    CPC classification number: B25J9/1602 ,  G05B2219/39237 ,  G05B2219/41195 ,  G05B2219/50216

    Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided. A control apparatus of a robot includes: a plurality of shafts interfering with each other; each of the shafts including a motor (8), (18), an arm (9), (19) coupled to the motor (8), (18) via a spring element such as a speed reducer and a motor position detector (10), (20) for detecting a position of the motor (8), (18); a position control unit (1), (11) and a speed control unit (2), (12) in order to operate each of the shafts in correspondence with an instruction for each of the plural shafts; an interference force calculating unit (7), (17) for calculating interference force which is exerted to another shaft from an instruction of the own shaft; a non-interference torque signal forming unit (6), (16) for forming a motor torque instruction signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force exerted from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft; and a non-interference position signal producing unit (5), (15) for producing a motor position signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force executed from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft.

    Abstract translation: 提供了一种能够大大减少计算量以降低CPU负载的机器人控制装置。 机器人的控制装置包括：多个轴彼此干涉的轴; 每个轴包括通过诸如减速器的弹簧元件和马达位置检测器（8）的马达（8），（18），联接到马达（8），（18）的臂（9），（19） （10），（20），用于检测电机（8）的位置，（18）; 位置控制单元（1），（11）和速度控制单元（2），（12），以便与每个所述多个轴的指令相对应地操作每个轴; 用于根据自身轴的指令计算施加到另一轴的干涉力的干涉力计算单元（7），（17）; 一种用于形成电动机转矩指令信号的非干扰转矩信号形成单元（6），（16），用于形成电动机转矩指令信号，通过该电动机转矩指令信号，自动轴与指令相对应地操作，在这种情况下，存在来自另一个轴施加的干涉力的情况基于 从另一轴施加的干涉力的计算值和自身轴的指令; 以及用于产生电动机位置信号的无干扰位置信号产生单元（5），（15），用于在基于另一个轴执行的干涉力存在的情况下，根据该指令产生自身轴的操作，基于 从另一轴施加的干涉力的计算值和自身轴的指令。

Patent Agency Ranking