DE69114444D1 - Steuersystem für Roboter mit Beschleunigungs- und Verzögerungszeitkonstanten. - Google Patents

Steuersystem für Roboter mit Beschleunigungs- und Verzögerungszeitkonstanten.

Info

Publication number
DE69114444D1
DE69114444D1 DE69114444T DE69114444T DE69114444D1 DE 69114444 D1 DE69114444 D1 DE 69114444D1 DE 69114444 T DE69114444 T DE 69114444T DE 69114444 T DE69114444 T DE 69114444T DE 69114444 D1 DE69114444 D1 DE 69114444D1
Authority
DE
Germany
Prior art keywords
robots
acceleration
control system
time constants
deceleration time
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
Application number
DE69114444T
Other languages
English (en)
Other versions
DE69114444T2 (de
Inventor
Nobutoshi Torii
Ryo - Nihei
Yasuo - Naito
Tetsuaki - Kato
Satoshi - Kinoshita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of DE69114444D1 publication Critical patent/DE69114444D1/de
Application granted granted Critical
Publication of DE69114444T2 publication Critical patent/DE69114444T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37391—Null, initial load, no load torque detection or other parameter at no load
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43009—Acceleration deceleration for each block of data, segment
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43023—Switch from acceleration to deceleration if mid stroke speed not reached
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43046—Determine time constant from command speed and needed max acceleration torque
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43059—Accelerate, decelerate all axis as function of max, min, average speed axis
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43099—Select acceleration deceleration time constants as function of weight, load, position

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
DE69114444T 1990-05-25 1991-05-15 Steuersystem für Roboter mit Beschleunigungs- und Verzögerungszeitkonstanten. Expired - Fee Related DE69114444T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2136007A JPH0430203A (ja) 1990-05-25 1990-05-25 ロボットの加減速時定数制御方法
PCT/JP1991/000645 WO1991018717A1 (en) 1990-05-25 1991-05-15 Acceleration/deceleration time constant control system of robot

Publications (2)

Publication Number Publication Date
DE69114444D1 true DE69114444D1 (de) 1995-12-14
DE69114444T2 DE69114444T2 (de) 1996-03-21

Family

ID=15165010

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69114444T Expired - Fee Related DE69114444T2 (de) 1990-05-25 1991-05-15 Steuersystem für Roboter mit Beschleunigungs- und Verzögerungszeitkonstanten.

Country Status (5)

Country Link
US (1) US5325467A (de)
EP (1) EP0484551B1 (de)
JP (1) JPH0430203A (de)
DE (1) DE69114444T2 (de)
WO (1) WO1991018717A1 (de)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3083870B2 (ja) * 1991-05-10 2000-09-04 ファナック株式会社 数値制御装置
US5708342A (en) * 1993-05-27 1998-01-13 Fanuc Ltd. Method of controlling acceleration/deceleration time constants for robot
JPH06337708A (ja) * 1993-05-27 1994-12-06 Fanuc Ltd ロボットの加減速時定数制御方式
JPH08137524A (ja) * 1994-11-09 1996-05-31 Fanuc Ltd ロボットの軌道計画時における時定数の設定方法
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
JPH0916241A (ja) * 1995-06-29 1997-01-17 Fanuc Ltd ロボットの加減速動作の設定方法
US5911125A (en) * 1995-08-23 1999-06-08 Fanuc, Ltd. CNC acceleration-deceleration control apparatus and method
SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
JP3235535B2 (ja) * 1997-09-26 2001-12-04 松下電器産業株式会社 ロボット制御装置とその制御方法
US6900608B2 (en) * 2003-04-17 2005-05-31 Automated Assemblies Corporation Apparatus for controlling a motor
DE102011010505A1 (de) * 2011-02-07 2012-08-09 Dürr Systems GmbH Anpassung der Dynamik zumindest eines Roboters
EP2816199B1 (de) * 2013-06-17 2021-09-01 General Electric Technology GmbH Steuerung von Instabilitäten aufgrund eines geringen Volumenflusses in Dampfturbinen
JP2017052016A (ja) * 2015-09-07 2017-03-16 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
JP6457441B2 (ja) * 2016-07-12 2019-01-23 ファナック株式会社 ロボットの重心表示装置、ロボット制御装置およびロボットシミュレーション装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54123673A (en) * 1978-03-16 1979-09-26 Fanuc Ltd Positioning control system
JPS57189789A (en) * 1981-05-16 1982-11-22 Toyama Machine Works Controller for speed of industrial robot
JPS58149188A (ja) * 1982-02-26 1983-09-05 神鋼電機株式会社 搬送ロボツト
JPS5962909A (ja) * 1982-10-01 1984-04-10 Fanuc Ltd 加減速装置
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
JPH0632914B2 (ja) * 1983-06-29 1994-05-02 新明和工業株式会社 産業用ロボツト
JPS6231406A (ja) * 1985-08-02 1987-02-10 Matsushita Electric Ind Co Ltd 多関節ロボツトの位置決め制御装置
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
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
US4908556A (en) * 1986-11-20 1990-03-13 Unimation Inc. Modular robot control system
JPS63273108A (ja) * 1987-04-30 1988-11-10 Fanuc Ltd 速度制御装置
JP2707087B2 (ja) * 1987-09-09 1998-01-28 ファナック株式会社 ロボット制御装置
JPH0212407A (ja) * 1988-06-30 1990-01-17 Okuma Mach Works Ltd 数値制御装置
US5166872A (en) * 1989-07-17 1992-11-24 Ability Technologies Corporation System and method for controlling devices through communication processors and pluralities of address-associated device controllers sharing each communication processor

Also Published As

Publication number Publication date
EP0484551B1 (de) 1995-11-08
WO1991018717A1 (en) 1991-12-12
EP0484551A1 (de) 1992-05-13
EP0484551A4 (en) 1993-03-17
US5325467A (en) 1994-06-28
DE69114444T2 (de) 1996-03-21
JPH0430203A (ja) 1992-02-03

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee