ES2169402T3 - Tecnica y dispositivo de control de movimiento de una viga. - Google Patents

Tecnica y dispositivo de control de movimiento de una viga.

Info

Publication number
ES2169402T3
ES2169402T3 ES97929191T ES97929191T ES2169402T3 ES 2169402 T3 ES2169402 T3 ES 2169402T3 ES 97929191 T ES97929191 T ES 97929191T ES 97929191 T ES97929191 T ES 97929191T ES 2169402 T3 ES2169402 T3 ES 2169402T3
Authority
ES
Spain
Prior art keywords
movement
orthogonal
transformed
support
condition values
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 - Lifetime
Application number
ES97929191T
Other languages
English (en)
Inventor
Michael Schwaar
Zenon Karczewski
Hans-Joachim Koriath
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.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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 Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Application granted granted Critical
Publication of ES2169402T3 publication Critical patent/ES2169402T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41405—Inverse kinematic, dynamic
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41413—Forward kinematics
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162—Stewart platform, hexapod construction

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Immobilizing And Processing Of Enzymes And Microorganisms (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Machine Tool Units (AREA)

Abstract

LA PRESENTE INVENCION SE REFIERE A UN PROCEDIMIENTO PARA CONTROL DEL MOVIMIENTO DE UNA VIGA RELATIVAMENTE CON RESPECTO A UNA BASE POR MEDIO DE MECANISMOS DE DESPLAZAMIENTO DE LA VIGA, CUYOS GRADOS DE LIBERTAD DEFINEN UN SISTEMA DE COORDENADAS NO RECTANGULAR. PARA ASEGURAR QUE EL SISTEMA TIENE EL MISMO COMPORTAMIENTO DINAMICO QUE UNA MAQUINA MOVIENDOSE ALREDEDOR DE UNA EJE ORTOGONAL, LOS VALORES ACTUALES NO RECTANGULARES DEL MECANISMO DE DESPLAZAMIENTO DE LA VIGA SON CAPTURADOS, CONVERTIDOS A COORDENADAS RECTANGULARES Y, SOBRE LA BASE DE LOS VALORES ACTUALES CONVERTIDOS Y A LOS VALORES DE AJUSTE, LAS VARIABLES DE CONTROL SON DETERMINADAS COMO COORDENADAS RECTANGULARES, SEGUIDO MEDIANTE LA CONVERSION DE COORDINADAS NO RECTANGULARES Y TRANSMISION DE LOS VARIOS MECANISMOS DE DESPLAZAMIENTO DE VIGA. SE DESCRIBE TAMBIEN UN DISPOSITIVO PARA CONTROL DE MOVIMIENTO DE VIGA Y A UNA MAQUINA DE PROCESADO CON UNA VIGA DE SUSPENSION DE HEXAPODO, PROVISTA CON UN CENTRO DE MECANIZADO.
ES97929191T 1996-09-05 1997-06-16 Tecnica y dispositivo de control de movimiento de una viga. Expired - Lifetime ES2169402T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19636102A DE19636102A1 (de) 1996-09-05 1996-09-05 Verfahren und Vorrichtung zur Steuerung der Bewegung eines Trägers

Publications (1)

Publication Number Publication Date
ES2169402T3 true ES2169402T3 (es) 2002-07-01

Family

ID=7804744

Family Applications (1)

Application Number Title Priority Date Filing Date
ES97929191T Expired - Lifetime ES2169402T3 (es) 1996-09-05 1997-06-16 Tecnica y dispositivo de control de movimiento de una viga.

Country Status (6)

Country Link
US (1) US6430476B1 (es)
EP (1) EP0925531B1 (es)
AT (1) ATE208915T1 (es)
DE (2) DE19636102A1 (es)
ES (1) ES2169402T3 (es)
WO (1) WO1998010339A1 (es)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19858154B4 (de) * 1998-12-16 2008-01-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und Einrichtung zur Kalibrierung von bewegbaren Vorrichtungen mit mindestens einem teilweise unbestimmten Geometrieparameter
DE19903613C1 (de) * 1999-01-29 2000-12-07 Fraunhofer Ges Forschung Tripod-Lagerungseinrichtung und Verfahren zur Torsionskompensation
DE19952388A1 (de) * 1999-10-31 2001-06-28 Eugen Saffert Regelsystem für elektrische Antriebe und Verfahren zur Bahnregelung
US6943519B2 (en) 2000-04-11 2005-09-13 Siemens Aktiengesellschaft Method and device for weight compensation in a mechanism with closed kinematic chains
DE10027106A1 (de) * 2000-05-31 2001-12-13 Fraunhofer Ges Forschung Verfahren und Einrichtung zur Kalibrierung von bewegbaren Vorrichtungen mit mindestens einem teilweise unbestimmten Geometrieparameter
WO2002027417A1 (fr) * 2000-09-20 2002-04-04 Mitsubishi Denki Kabushiki Kaisha Dispositif de commande numerique et methode correspondante
DE10156491B4 (de) * 2001-11-16 2005-10-20 Fraunhofer Ges Forschung Vorrichtung zum Abstützen eines Trägers
EP1493538B1 (de) * 2003-06-27 2009-07-01 Siemens Aktiengesellschaft Bestimmungsverfahren für Istzustände einer Anzahl von Verstellelementen
DE112004001271T5 (de) * 2004-03-12 2006-05-18 Mitsubishi Denki K.K. Dreh-Werkstückhubvorrichtung und Bearbeitungsmaschine
CN101556467B (zh) * 2008-04-08 2012-06-13 深圳富泰宏精密工业有限公司 防止机台过冲系统及方法
EP2336839A4 (en) * 2008-09-16 2013-11-06 Shin Nippon Koki Co Ltd NUMERICAL CONTROL
CN101587346B (zh) * 2009-06-19 2011-06-22 同济大学 五杆五环并联运动机床加工的控制方法
CN102012690B (zh) * 2010-11-22 2012-06-06 同济大学 基于正解的五自由度纯并联机床断电后寻址及回零的控制方法
GB2486238A (en) * 2010-12-08 2012-06-13 Wolfson Microelectronics Plc A user interface for controlling a device using an icon
DE102014117244A1 (de) * 2014-11-25 2016-05-25 Carl Zeiss Industrielle Messtechnik Gmbh Koordinatenmessgerät und Verfahren zur Kompensation großer Werkstückmassen
CN112363453B (zh) * 2020-10-19 2022-10-18 上海航天设备制造总厂有限公司 一种利用90°侧铣头实现大型非正交角度异型深腔类零件的加工方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
JPS5988279A (ja) * 1982-10-15 1984-05-22 新明和工業株式会社 多関節ロボットの座標変換方法およびそのための装置
DE3306877A1 (de) * 1983-02-26 1984-10-04 GdA Gesellschaft für digitale Automation mbH, 8000 München Verfahren zum betreiben eines industrieroboters
EP0308539A1 (de) * 1987-09-25 1989-03-29 Waldrich Siegen Werkzeugmaschinenbau GmbH Verfahren zum Ausrichten einer konkreten bzw. wirklichen Fläche, z. B. einer Form, auf ein internes Koordinatensystem einer sich relativ zu ihr bewegenden Maschine, insbesondere einer Mehrachsen-Bandlegemaschine sowie Positionierungssystem bzw. -vorrichtung zur Durchführung des verfahrens
EP0701187B1 (en) * 1989-05-17 2000-08-09 Fujitsu Limited Profile control system for robots
US5179525A (en) 1990-05-01 1993-01-12 University Of Florida Method and apparatus for controlling geometrically simple parallel mechanisms with distinctive connections
DE4212537A1 (de) 1991-04-25 1992-10-29 Zeiss Carl Fa Antrieb fuer ein linear verfahrbares und um eine achse drehbares maschinenteil
US5401128A (en) 1991-08-26 1995-03-28 Ingersoll Milling Machine Company Octahedral machine with a hexapodal triangular servostrut section
JP3269852B2 (ja) * 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
JP2787872B2 (ja) * 1992-06-08 1998-08-20 三菱電機株式会社 数値制御装置
JPH07273273A (ja) 1994-03-30 1995-10-20 Mitsubishi Materials Corp 電子回路パッケージ
US5556242A (en) * 1994-06-17 1996-09-17 Giddings & Lewis, Inc. Space frame for a machine tool

Also Published As

Publication number Publication date
ATE208915T1 (de) 2001-11-15
WO1998010339A1 (de) 1998-03-12
DE59705409D1 (de) 2001-12-20
EP0925531B1 (de) 2001-11-14
US6430476B1 (en) 2002-08-06
EP0925531A1 (de) 1999-06-30
DE19636102A1 (de) 1998-03-12

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