FR2452134A1 - SERVO CONTROL DEVICE FOR AUTOMATIC HANDLING DEVICE - Google Patents

SERVO CONTROL DEVICE FOR AUTOMATIC HANDLING DEVICE

Info

Publication number
FR2452134A1
FR2452134A1 FR8006396A FR8006396A FR2452134A1 FR 2452134 A1 FR2452134 A1 FR 2452134A1 FR 8006396 A FR8006396 A FR 8006396A FR 8006396 A FR8006396 A FR 8006396A FR 2452134 A1 FR2452134 A1 FR 2452134A1
Authority
FR
France
Prior art keywords
handling device
control device
data processing
order
servo control
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.)
Withdrawn
Application number
FR8006396A
Other languages
French (fr)
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.)
HALL AUTOMATION Ltd
Original Assignee
HALL AUTOMATION Ltd
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 HALL AUTOMATION Ltd filed Critical HALL AUTOMATION Ltd
Publication of FR2452134A1 publication Critical patent/FR2452134A1/en
Withdrawn legal-status Critical Current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
    • G05B19/33—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 using an analogue measuring device
    • G05B19/35—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 using an analogue measuring device for point-to-point control
    • G05B19/351—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 using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • 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
    • G05B2219/41362—Registration, display of servo error

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)

Abstract

L'INVENTION CONCERNE UN DISPOSITIF DE SERVOCOMMANDE PERMETTANT DE COMMANDER UN DISPOSITIF DE MANIPULATION AUTOMATIQUE AFIN DE PERMETTRE DE REALISER UN POSITIONNEMENT PRECIS DU DISPOSITIF DE MANIPULATION ET UNE ELIMINATION DES ERREURS RESIDUELLES DE POSITIONNEMENT. UN ORGANE 3 DE TRAITEMENT DE DONNEES DELIVRE DES DONNEES DE POSITION, VIA UN AMPLIFICATEUR DIFFERENTIEL 5 ET UN ELEMENT D'ACTIONNEMENT 2, A UN DISPOSITIF DE MANIPULATION 1. L'ELEMENT D'ACTIONNEMENT COMMANDE EN OUTRE UN POTENTIOMETRE 6 DONT LE SIGNAL DE SORTIE EST APPLIQUE A L'AMPLIFICATEUR DIFFERENTIEL 5 POUR REALISER LA SERVOCOMMANDE, ET EST EGALEMENT APPLIQUE A L'ORGANE 3 DE TRAITEMENT DE DONNEES AFIN DE SERVIR DE SIGNAL REPRESENTATIF DES ERREURS DE POSITIONNEMENT RESIDUELLES DU DISPOSITIF DE SERVOCOMMANDE. CETTE ERREUR EST DETECTEE PENDANT LA PERIODE D'ATTENTE D'UN CYCLE DE TRAVAIL DU DISPOSITIF DE MANIPULATION ET EST TRAITEE PAR L'ORGANE DE TRAITEMENT DE DONNEES DE FACON QUE LA CORRECTION D'ERREUR SOIT APPLIQUEE PENDANT LA PERIODE DE TRAVAIL DUDIT CYCLE AFIN D'AIDER L'ORGANE MANIPULATEUR A ATTEINDRE SA POSITION CIBLE.THE INVENTION RELATES TO A SERVO-CONTROL DEVICE ALLOWING TO CONTROL AN AUTOMATIC MANIPULATION DEVICE IN ORDER TO MAKE A PRECISE POSITIONING OF THE HANDLING DEVICE AND ELIMINATION OF RESIDUAL POSITIONING ERRORS. A DATA PROCESSING BODY 3 DELIVERS POSITION DATA, VIA A DIFFERENTIAL AMPLIFIER 5 AND AN ACTUATION ELEMENT 2, TO A HANDLING DEVICE 1. THE ACTUATION ELEMENT ALSO CONTROLS A POTENTIOMETER 6 WHOSE OUTPUT SIGNAL IS APPLIED TO THE DIFFERENTIAL AMPLIFIER 5 TO REALIZE THE SERVOCONTROL, AND IS ALSO APPLIED TO THE DATA PROCESSING UNIT 3 IN ORDER TO SERVE AS A REPRESENTATIVE SIGNAL OF THE RESIDUAL POSITIONING ERRORS OF THE SERVO CONTROL DEVICE. THIS ERROR IS DETECTED DURING THE WAITING PERIOD OF A WORK CYCLE OF THE HANDLING DEVICE AND IS PROCESSED BY THE DATA PROCESSING BODY SO THAT THE ERROR CORRECTION IS APPLIED DURING THE WORK PERIOD OF SUCH CYCLE IN ORDER TO '' HELP THE MANIPULATOR TO REACH ITS TARGET POSITION.

FR8006396A 1979-03-22 1980-03-21 SERVO CONTROL DEVICE FOR AUTOMATIC HANDLING DEVICE Withdrawn FR2452134A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB7910188A GB2045461A (en) 1979-03-22 1979-03-22 Servo control system

Publications (1)

Publication Number Publication Date
FR2452134A1 true FR2452134A1 (en) 1980-10-17

Family

ID=10504071

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8006396A Withdrawn FR2452134A1 (en) 1979-03-22 1980-03-21 SERVO CONTROL DEVICE FOR AUTOMATIC HANDLING DEVICE

Country Status (4)

Country Link
DE (1) DE3010628A1 (en)
FR (1) FR2452134A1 (en)
GB (1) GB2045461A (en)
IT (1) IT1136160B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2572555A1 (en) * 1984-10-31 1986-05-02 Regulation Controle Indl Cie Regulator with automatic compensation of droop

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3013094A1 (en) * 1980-04-03 1981-10-22 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut METHOD FOR AUTOMATIC OFFSET VOLTAGE COMPENSATION IN NUMERICALLY CONTROLLED MACHINES
EP0057477A3 (en) * 1981-01-30 1982-08-25 Werkzeugmaschinenfabrik Oerlikon-Bührle AG Control circuit with balancing device
SE8304100L (en) * 1983-07-22 1985-01-23 Ibm Svenska Ab SYSTEM FOR AUTOMATIC CALIBRATION OF SPACE COORDINATES OF A ROBOT GRIPPER IN SEX FREEDOM
CN109278017A (en) * 2018-12-05 2019-01-29 安徽硕威智能科技有限公司 Localization method and its system of the robot in certain tracks

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2572555A1 (en) * 1984-10-31 1986-05-02 Regulation Controle Indl Cie Regulator with automatic compensation of droop

Also Published As

Publication number Publication date
DE3010628A1 (en) 1980-09-25
GB2045461A (en) 1980-10-29
IT1136160B (en) 1986-08-27
IT8012489A0 (en) 1980-03-24

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Legal Events

Date Code Title Description
ST Notification of lapse