DE69634034D1 - Verfahren zur kurveninterpolation bei einer geschwindigkeitssteuerung eines roboters während eines überschleifvorganges - Google Patents
Verfahren zur kurveninterpolation bei einer geschwindigkeitssteuerung eines roboters während eines überschleifvorgangesInfo
- Publication number
- DE69634034D1 DE69634034D1 DE69634034T DE69634034T DE69634034D1 DE 69634034 D1 DE69634034 D1 DE 69634034D1 DE 69634034 T DE69634034 T DE 69634034T DE 69634034 T DE69634034 T DE 69634034T DE 69634034 D1 DE69634034 D1 DE 69634034D1
- Authority
- DE
- Germany
- Prior art keywords
- over
- speed control
- robot during
- curve interpolation
- grinding process
- 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
- G05B19/416—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
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34098—Slope fitting, fairing contour, curve fitting, transition
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34169—Coarse interpolator, path calculator delivers position, speed, acceleration blocks
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34175—Overlap, between two blocks, continuous, smooth speed change, movement
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39242—Velocity blending, change in a certain time from first to second velocity
-
- 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
- G05B2219/42207—Generate points between start and end position, linear interpolation
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24510995 | 1995-08-31 | ||
JP24510995A JP3476287B2 (ja) | 1995-08-31 | 1995-08-31 | ロボットの接続動作時に速度制御を行なうための曲線補間方法 |
PCT/JP1996/002472 WO1997008596A1 (fr) | 1995-08-31 | 1996-09-02 | Procede d'interpolation de courbes pour la regulation de vitesse a l'occasion d'une jonction robotisee |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69634034D1 true DE69634034D1 (de) | 2005-01-20 |
DE69634034T2 DE69634034T2 (de) | 2005-05-19 |
Family
ID=17128762
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69634034T Expired - Fee Related DE69634034T2 (de) | 1995-08-31 | 1996-09-02 | Verfahren zur kurveninterpolation bei einer geschwindigkeitssteuerung eines roboters während eines überschleifvorganges |
Country Status (5)
Country | Link |
---|---|
US (1) | US5988850A (de) |
EP (1) | EP0795804B1 (de) |
JP (1) | JP3476287B2 (de) |
DE (1) | DE69634034T2 (de) |
WO (1) | WO1997008596A1 (de) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10235580A (ja) * | 1997-02-26 | 1998-09-08 | Seiko Seiki Co Ltd | 位置・力目標軌道生成器 |
JPH11149306A (ja) | 1997-11-14 | 1999-06-02 | Fanuc Ltd | 加工機の制御装置 |
DE19939137A1 (de) * | 1999-08-18 | 2001-03-08 | Bosch Gmbh Robert | Vorrichtung und Verfahren zur Erzeugung eines Sollwerts für die Ansteuerung eines Antriebs |
US6757583B2 (en) * | 2002-06-27 | 2004-06-29 | Joe Giamona | Interpolated motion control over a serial network |
US20040225382A1 (en) * | 2003-05-09 | 2004-11-11 | Phil Brown | Jerk profile, vector motion control and real time position capture in motion control systems |
KR100586994B1 (ko) * | 2004-09-07 | 2006-06-08 | 삼성전자주식회사 | 로봇제어장치 및 그 제어방법 |
US8000837B2 (en) | 2004-10-05 | 2011-08-16 | J&L Group International, Llc | Programmable load forming system, components thereof, and methods of use |
GB0508273D0 (en) * | 2005-04-25 | 2005-06-01 | Renishaw Plc | Method for scanning the surface of a workpiece |
US8214415B2 (en) * | 2008-04-18 | 2012-07-03 | Motion Engineering Incorporated | Interpolator for a networked motion control system |
US8768492B2 (en) * | 2012-05-21 | 2014-07-01 | Tait Towers Manufacturing Llc | Automation and motion control system |
CN104238458A (zh) * | 2013-06-08 | 2014-12-24 | 沈阳高精数控技术有限公司 | 一种nurbs曲线高速前瞻插补方法 |
JP2015100867A (ja) * | 2013-11-22 | 2015-06-04 | トヨタ自動車株式会社 | ロボットの3次元軌道生成方法 |
US9429926B2 (en) | 2014-05-16 | 2016-08-30 | Tait Towers Manufacturing, LLC | Automation and motion control system |
CN106444635B (zh) * | 2015-08-04 | 2019-09-13 | 深圳市雷赛智能控制股份有限公司 | 一种运动控制系统的非对称s曲线加减速控制方法和装置 |
CN109407621A (zh) * | 2018-01-30 | 2019-03-01 | 武汉呵尔医疗科技发展有限公司 | 一种取样机械臂插补中s型加减速运动控制方法 |
CN109884979B (zh) * | 2019-01-31 | 2020-02-21 | 北京华航唯实机器人科技股份有限公司 | 设备运动点的处理方法及装置 |
CN111722591B (zh) * | 2020-06-05 | 2021-10-08 | 浙江工业大学 | 一种商标模切机高精度联动插补的方法 |
CN112077851B (zh) * | 2020-09-17 | 2021-06-25 | 南京埃斯顿自动化股份有限公司 | 一种基于混合空间的工业机器人过渡轨迹规划方法 |
CN112975992B (zh) * | 2021-05-21 | 2021-08-13 | 武汉瀚迈科技有限公司 | 一种误差可控的机器人轨迹同步优化方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59180604A (ja) * | 1983-03-31 | 1984-10-13 | Hitachi Ltd | ロボツトの連続軌道生成装置 |
JPS60193016A (ja) * | 1984-03-14 | 1985-10-01 | Toyota Motor Corp | ロボツト装置 |
JP2648815B2 (ja) * | 1987-02-23 | 1997-09-03 | 洋 牧野 | 軌跡補間制御装置 |
US5222198A (en) * | 1988-05-06 | 1993-06-22 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Control method and apparatus for a robot having multi-rotating axes |
JPH02113305A (ja) * | 1988-10-24 | 1990-04-25 | Fanuc Ltd | スプライン補間方法 |
DE4213927A1 (de) * | 1992-04-28 | 1993-11-04 | Festo Kg | Verfahren zur steuerung einer werkzeugmaschine, insbesondere eine fraesmaschine |
JPH0764622A (ja) * | 1993-08-26 | 1995-03-10 | Matsushita Electric Ind Co Ltd | ロボットの軌道補間装置 |
US5602968A (en) * | 1994-05-02 | 1997-02-11 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Task space angular velocity blending for real-time trajectory generation |
-
1995
- 1995-08-31 JP JP24510995A patent/JP3476287B2/ja not_active Expired - Fee Related
-
1996
- 1996-09-02 WO PCT/JP1996/002472 patent/WO1997008596A1/ja active IP Right Grant
- 1996-09-02 US US08/836,055 patent/US5988850A/en not_active Expired - Fee Related
- 1996-09-02 EP EP96928731A patent/EP0795804B1/de not_active Expired - Lifetime
- 1996-09-02 DE DE69634034T patent/DE69634034T2/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0795804A4 (de) | 2001-03-28 |
JP3476287B2 (ja) | 2003-12-10 |
WO1997008596A1 (fr) | 1997-03-06 |
JPH0969006A (ja) | 1997-03-11 |
US5988850A (en) | 1999-11-23 |
DE69634034T2 (de) | 2005-05-19 |
EP0795804A1 (de) | 1997-09-17 |
EP0795804B1 (de) | 2004-12-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE69634034D1 (de) | Verfahren zur kurveninterpolation bei einer geschwindigkeitssteuerung eines roboters während eines überschleifvorganges | |
DE69634194D1 (de) | Verfahren zur bearbeitung einer oberfläche | |
DE69123947D1 (de) | Verfahren zur Steuerung der Geschwindigkeit eines Fahrzeugs | |
DE59404516D1 (de) | Vorrichtung und Verfahren zum Regeln einer Anfahrvorrichtung eines Fahrzeugantriebes | |
DE69025321D1 (de) | Verfahren zur steuerung eines servomotors | |
DE59603138D1 (de) | Verfahren zur Steuerung von Koordinatenmessgeräten | |
DE59605729D1 (de) | Verfahren und vorrichtung zur ansteuerung einer hydroanlage eines arbeitsgerätes | |
DE69603866D1 (de) | Verfahren zur optimierten prozessregelung in einer multivariablen prädiktiven steuerungseinheit | |
DE69032557D1 (de) | Verfahren und system zur regelung eines verfahrens | |
DE59304764D1 (de) | Verfahren zum steuern eines schrittmotors | |
DE59600355D1 (de) | Verfahren zum Vermeiden einer Kollision eines Kraftfahrzeuges | |
DE69308638D1 (de) | Verfahren zur Ultraschallreinigung eines Werkstücks | |
DE69530369D1 (de) | Verfahren zum steuern eines auswerfers einer spritzgiessmaschine | |
DE69619909D1 (de) | Verfahren und vorrichtung zum bearbeiten eines mechanischen werkstücks | |
DE69519181D1 (de) | Verfahren zur Regelung eines Bremssystems | |
DE69216637D1 (de) | Verfahren zur oberflächenbehandlung eines werkstückes | |
DE69608409D1 (de) | Verfahren zur schaltung eines regelungszustands in einem servosteuerungssystem | |
DE59703697D1 (de) | Verfahren zur automatisierten prozessführung eines richtprozesses | |
DE68919821D1 (de) | Verfahren zur steuerung der werkzeuglage eines roboters. | |
DE59406577D1 (de) | Verfahren zur steuerung eines reluktanzmotors | |
DE69302217D1 (de) | Verfahren zum Steuern eines Fahrzeuggetriebes | |
DE69420826D1 (de) | Verfahren zur flexiblen steuerung eines servomechanismus | |
DE69510031D1 (de) | Verfahren zum bestimmen von bezugspositionen eines industrieroboters | |
DE69517968D1 (de) | Verfahren zur steuerung eines mechanisch-hydraulischen getriebes | |
DE3886394D1 (de) | Verfahren zur steuerung eines servomotors. |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8339 | Ceased/non-payment of the annual fee |