DE3688095D1 - Regeleinrichtung fuer ein nichtlineares mechanisches system mit mehreren freiheitsgraden. - Google Patents
Regeleinrichtung fuer ein nichtlineares mechanisches system mit mehreren freiheitsgraden.Info
- Publication number
- DE3688095D1 DE3688095D1 DE8686101170T DE3688095T DE3688095D1 DE 3688095 D1 DE3688095 D1 DE 3688095D1 DE 8686101170 T DE8686101170 T DE 8686101170T DE 3688095 T DE3688095 T DE 3688095T DE 3688095 D1 DE3688095 D1 DE 3688095D1
- Authority
- DE
- Germany
- Prior art keywords
- freedom
- control device
- mechanical system
- multiple degree
- linear mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42064—Position, speed and acceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42155—Model
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60066942A JPH0740204B2 (ja) | 1985-03-30 | 1985-03-30 | 多自由度非線形機械システムの制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3688095D1 true DE3688095D1 (de) | 1993-04-29 |
DE3688095T2 DE3688095T2 (de) | 1993-09-16 |
Family
ID=13330562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8686101170T Expired - Fee Related DE3688095T2 (de) | 1985-03-30 | 1986-01-29 | Regeleinrichtung fuer ein nichtlineares mechanisches system mit mehreren freiheitsgraden. |
Country Status (4)
Country | Link |
---|---|
US (1) | US4725942A (de) |
EP (1) | EP0196417B1 (de) |
JP (1) | JPH0740204B2 (de) |
DE (1) | DE3688095T2 (de) |
Families Citing this family (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0262600B1 (de) * | 1986-09-29 | 1992-11-25 | Asea Ab | Verfahren und Vorrichtung zur optimalen Parameterregelung von Reglern, die rotierende und/oder lineare Bewegungen eines Industrieroboters steuern |
DE3742686A1 (de) * | 1986-12-16 | 1988-07-07 | Nissan Motor | Vorrichtung zur modellgefuehrten steuerung eines roboters |
JP2645004B2 (ja) * | 1987-02-27 | 1997-08-25 | 株式会社東芝 | 多自由度マニピユレータの制御装置 |
US5023808A (en) * | 1987-04-06 | 1991-06-11 | California Institute Of Technology | Dual-arm manipulators with adaptive control |
US4860215A (en) * | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
JPS63298502A (ja) * | 1987-05-29 | 1988-12-06 | Kayaba Ind Co Ltd | サ−ボ系の波形改善装置 |
JPS63314606A (ja) * | 1987-06-18 | 1988-12-22 | Fanuc Ltd | 多関節ロボットの制御装置 |
US5375448A (en) * | 1987-08-12 | 1994-12-27 | Hitachi, Ltd. | Non-interference control method and device |
JP2652167B2 (ja) * | 1987-08-19 | 1997-09-10 | 株式会社小松製作所 | パワーショベルの作業機位置制御装置 |
EP0306922B1 (de) * | 1987-09-08 | 1995-01-25 | Kabushiki Kaisha Meidensha | Regelsystem zur Regelung der Umdrehungsgeschwindigkeit eines elektrischen Motors |
US5155797A (en) * | 1987-09-08 | 1992-10-13 | Kabushiki Kaisha Meidensha | Control system for controlling revolution speed of electric motor |
JPH01230107A (ja) * | 1988-03-10 | 1989-09-13 | Fanuc Ltd | サーボモータにより駆動される被駆動体の衝突検出方法 |
JPH01252389A (ja) * | 1988-03-31 | 1989-10-09 | Agency Of Ind Science & Technol | マニピュレータ及びその制御方法 |
US4916635A (en) * | 1988-09-12 | 1990-04-10 | Massachusetts Institute Of Technology | Shaping command inputs to minimize unwanted dynamics |
US5049796A (en) * | 1989-05-17 | 1991-09-17 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Robust high-performance control for robotic manipulators |
US5060132A (en) * | 1989-06-13 | 1991-10-22 | Elsag International B.V. | Method of modeling and control for delignification of pulping |
JPH03166604A (ja) * | 1989-11-27 | 1991-07-18 | Fanuc Ltd | 機械位置変動の位置補正方式 |
US4999553A (en) * | 1989-12-28 | 1991-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for configuration control of redundant robots |
JP2566665B2 (ja) * | 1990-06-27 | 1996-12-25 | 川崎重工業株式会社 | 慣性系におけるロボットの制御装置 |
US5265034A (en) * | 1991-05-13 | 1993-11-23 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Feedback controlled optics with wavefront compensation |
DE4202578C2 (de) * | 1992-01-30 | 1995-06-08 | Deutsche Forsch Luft Raumfahrt | Verfahren und Vorrichtung zur Identifikation von dynamischen Kenngrößen |
US5430643A (en) * | 1992-03-11 | 1995-07-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Configuration control of seven degree of freedom arms |
US5546508A (en) * | 1992-04-03 | 1996-08-13 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Controlling flexible robot arms using high speed dynamics process |
US5377310A (en) * | 1992-04-03 | 1994-12-27 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Controlling under-actuated robot arms using a high speed dynamics |
JP3084928B2 (ja) * | 1992-05-29 | 2000-09-04 | 三菱電機株式会社 | 電動機の位置制御装置 |
US5371669A (en) * | 1992-06-18 | 1994-12-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Sliding mode control method having terminal convergence in finite time |
DE69315318D1 (de) * | 1992-12-07 | 1998-01-02 | Koninkl Philips Electronics Nv | Steuerungseinrichtung |
EP0605909B1 (de) * | 1992-12-07 | 1997-11-19 | Koninklijke Philips Electronics N.V. | Steuerungseinrichtung |
EP0604672A1 (de) * | 1992-12-23 | 1994-07-06 | Siemens Aktiengesellschaft | Verfahren zur Drehmomentvorsteuerung von numerisch geregelten, verkoppelten Antriebssystemen |
US5550732A (en) * | 1994-12-19 | 1996-08-27 | Motorola, Inc. | Controller for nonlinear systems |
US5546302A (en) * | 1994-12-19 | 1996-08-13 | Motorola, Inc. | Polynomial controller for nonlinear systems |
DE19711484C1 (de) * | 1997-03-19 | 1998-09-03 | Siemens Ag | Verfahren zur Abbildung eines technischen Systems durch einen Rechner |
US6253120B1 (en) * | 1997-04-28 | 2001-06-26 | Seiko Seiki Kabushiki Kaisha | Position and/or force controlling apparatus using sliding mode decoupling control |
JP3981773B2 (ja) * | 1997-05-28 | 2007-09-26 | 株式会社安川電機 | ロボット制御装置 |
US6172470B1 (en) | 1998-04-30 | 2001-01-09 | Trw Inc. | Large aperture precision gimbal drive module |
US6037737A (en) * | 1998-04-30 | 2000-03-14 | Trw Inc. | Simple friction-compensating control algorithm for high precision mechanisms |
US6177910B1 (en) | 1998-04-30 | 2001-01-23 | Trw Inc. | Large bore drive module |
FI123361B (fi) * | 2007-10-01 | 2013-03-15 | Sandvik Mining & Constr Oy | Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi |
US8700686B1 (en) * | 2007-11-13 | 2014-04-15 | The Mathworks, Inc. | Robust estimation of time varying parameters |
NL2003634A (en) * | 2008-11-14 | 2010-05-17 | Asml Netherlands Bv | Lithographic apparatus and control system. |
CN104698846B (zh) * | 2015-02-10 | 2017-06-30 | 浙江工业大学 | 一种机械臂伺服系统的指定性能反演控制方法 |
CN109490574B (zh) * | 2018-11-29 | 2020-04-21 | 中国矿业大学(北京) | 一种谐振式硅微加速度计的非线性振动分析方法 |
CN111259328B (zh) * | 2020-01-16 | 2021-03-02 | 东南大学 | 一种自由振动位移响应驱动的航天器结构非线性特征检测方法 |
CN114047694B (zh) * | 2021-10-25 | 2024-04-05 | 南京理工大学 | 一种针对单连杆机械臂的自适应输出反馈控制方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2201499B1 (de) * | 1972-09-29 | 1975-03-14 | Alsthom Cgee | |
US4156835A (en) * | 1974-05-29 | 1979-05-29 | Massachusetts Institute Of Technology | Servo-controlled mobility device |
FR2434419A1 (fr) * | 1978-07-28 | 1980-03-21 | Centre Tech Ind Papier | Systeme de commande multivariable d'un procede a temps morts |
JPS585802A (ja) * | 1981-07-02 | 1983-01-13 | Nippon Telegr & Teleph Corp <Ntt> | 多自由度運動機構の制御方式 |
US4458321A (en) * | 1981-08-19 | 1984-07-03 | The Charles Stark Draper Laboratory, Inc. | Self-teaching robot feedback system |
-
1985
- 1985-03-30 JP JP60066942A patent/JPH0740204B2/ja not_active Expired - Lifetime
-
1986
- 1986-01-23 US US06/824,570 patent/US4725942A/en not_active Expired - Fee Related
- 1986-01-29 DE DE8686101170T patent/DE3688095T2/de not_active Expired - Fee Related
- 1986-01-29 EP EP86101170A patent/EP0196417B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0196417A3 (en) | 1989-04-05 |
JPH0740204B2 (ja) | 1995-05-01 |
EP0196417A2 (de) | 1986-10-08 |
JPS61226804A (ja) | 1986-10-08 |
EP0196417B1 (de) | 1993-03-24 |
DE3688095T2 (de) | 1993-09-16 |
US4725942A (en) | 1988-02-16 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8339 | Ceased/non-payment of the annual fee |