DE69809835D1 - Positions- und/oder Stellkraftregelungseinrichtung mit Entkopplung durch ein Regelungsverfahren des gleitend einstellbaren Typs - Google Patents

Positions- und/oder Stellkraftregelungseinrichtung mit Entkopplung durch ein Regelungsverfahren des gleitend einstellbaren Typs

Info

Publication number
DE69809835D1
DE69809835D1 DE69809835T DE69809835T DE69809835D1 DE 69809835 D1 DE69809835 D1 DE 69809835D1 DE 69809835 T DE69809835 T DE 69809835T DE 69809835 T DE69809835 T DE 69809835T DE 69809835 D1 DE69809835 D1 DE 69809835D1
Authority
DE
Germany
Prior art keywords
decoupling
actuating force
adjustable type
control device
control method
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
DE69809835T
Other languages
English (en)
Other versions
DE69809835T2 (de
Inventor
Akira Shimada
Yoshinobu Ohtachi
Tsutomu Mita
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.)
Seiko Instruments Inc
Original Assignee
Seiko Seiki KK
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
Priority claimed from JP9124933A external-priority patent/JPH10301602A/ja
Priority claimed from JP33769097A external-priority patent/JP3215841B2/ja
Application filed by Seiko Seiki KK filed Critical Seiko Seiki KK
Publication of DE69809835D1 publication Critical patent/DE69809835D1/de
Application granted granted Critical
Publication of DE69809835T2 publication Critical patent/DE69809835T2/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
    • G05B19/19—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode 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
    • 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
    • G05B13/047—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 the criterion being a time optimal performance criterion
    • 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
    • G05B2219/39224—Jacobian transpose control of force vector in configuration and cartesian space
    • 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
    • G05B2219/39322—Force and position 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39341—Sliding mode based impedance 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42353—Variable structure system, control VSS VSC
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)
DE69809835T 1997-04-28 1998-04-28 Positions- und/oder Stellkraftregelungseinrichtung mit Entkopplung durch ein Regelungsverfahren des gleitend einstellbaren Typs Expired - Fee Related DE69809835T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP9124933A JPH10301602A (ja) 1997-04-28 1997-04-28 スライディングモード非干渉制御を用いた位置および／または力制御装置
JP33769097A JP3215841B2 (ja) 1997-11-21 1997-11-21 スライディングモード非干渉制御を用いた多関節研磨ロボット

Publications (2)

Publication Number Publication Date
DE69809835D1 true DE69809835D1 (de) 2003-01-16
DE69809835T2 DE69809835T2 (de) 2003-10-09

Family

ID=26461491

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69809835T Expired - Fee Related DE69809835T2 (de) 1997-04-28 1998-04-28 Positions- und/oder Stellkraftregelungseinrichtung mit Entkopplung durch ein Regelungsverfahren des gleitend einstellbaren Typs

Country Status (3)

Country Link
US (1) US6253120B1 (de)
EP (1) EP0875341B1 (de)
DE (1) DE69809835T2 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6622080B2 (en) * 2001-07-26 2003-09-16 Motorola, Inc. Tracking control for electronic throttle systems
US7054785B2 (en) * 2003-06-24 2006-05-30 The Boeing Company Methods and systems for analyzing flutter test data using non-linear transfer function frequency response fitting
US6947858B2 (en) * 2003-06-27 2005-09-20 The Boeing Company Methods and apparatus for analyzing flutter test data using damped sine curve fitting
US20060173558A1 (en) * 2003-08-28 2006-08-03 Adtex Inc. Digital control method that control error is improved
US20050159840A1 (en) * 2004-01-16 2005-07-21 Wen-Jong Lin System for surface finishing a workpiece
JP4267027B2 (ja) * 2006-12-07 2009-05-27 ファナック株式会社 ロボット制御装置
BE1020915B1 (nl) * 2013-07-02 2019-09-16 Optidrive Nv Methode en installatie voor het afschuinen van hoeken.
CN103645638A (zh) * 2013-12-09 2014-03-19 天津工业大学 一种欠驱动航行器的鲁棒控制器的设计方法
CN104184144B (zh) * 2014-09-05 2016-08-24 国家电网公司 一种用于多电压等级电网模型的抗差状态估计方法
WO2016074169A1 (zh) 2014-11-12 2016-05-19 深圳市大疆创新科技有限公司 一种对目标物体的检测方法、检测装置以及机器人
CN104932271B (zh) * 2015-06-08 2017-07-28 浙江工业大学 一种机械臂伺服系统的神经网络全阶滑模控制方法
CN105045101B (zh) * 2015-06-08 2018-06-12 浙江工业大学 一种基于扩张状态观测器的机械臂伺服系统全阶滑模控制方法
CN105182745B (zh) * 2015-08-11 2018-01-09 浙江工业大学 一种带有死区补偿的机械臂伺服系统神经网络全阶滑模控制方法
CN106826807B (zh) * 2016-08-11 2020-01-17 上海大学 一种三自由度腕部结构的滑模变结构控制方法
US10333444B2 (en) * 2017-08-31 2019-06-25 Eaton Intelligent Power Limited System and method for stability control in adjustable speed drive with DC link thin film capacitor
CN108983606B (zh) * 2018-07-09 2021-04-27 南京理工大学 一种机械臂系统的鲁棒滑模自适应控制方法
CN110053044B (zh) * 2019-03-19 2022-03-22 江苏大学 一种并联机器人串类水果夹取无模型自适应光滑滑模阻抗控制方法
CN110434858B (zh) * 2019-09-11 2020-11-17 青岛大学 一种基于命令滤波的多机械臂系统的力/位混合控制方法
CN111722625B (zh) * 2019-12-18 2021-09-21 北京交通大学 时变数量群体机器人接力目标跟踪系统的稳定性分析方法
CN112658808B (zh) * 2020-11-11 2022-07-29 哈尔滨工业大学（深圳） 力位耦合柔顺打磨控制方法和柔顺打磨控制系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0740204B2 (ja) * 1985-03-30 1995-05-01 株式会社東芝 多自由度非線形機械システムの制御装置
US4753048A (en) * 1986-03-20 1988-06-28 Massachusetts Institute Of Technology Method of for grinding
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
JPH02297612A (ja) 1989-05-12 1990-12-10 Fanuc Ltd 積分性を持ったスライディングモード制御方式
JPH0392911A (ja) 1989-09-06 1991-04-18 Fanuc Ltd スライディングモード制御によるロボット制御方法
GB9026735D0 (en) 1990-12-08 1991-01-30 Vickers Systems Ltd Sliding mode control system
JPH0588749A (ja) * 1991-09-30 1993-04-09 Japan Steel Works Ltd:The スライデイングモード制御方法
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

Also Published As

Publication number Publication date
US6253120B1 (en) 2001-06-26
EP0875341B1 (de) 2002-12-04
EP0875341A1 (de) 1998-11-04
DE69809835T2 (de) 2003-10-09

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Legal Events

Date Code Title Description
8327 Change in the person/name/address of the patent owner

Owner name: SEIKO INSTRUMENTS INC., CHIBA, JP

8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee