GB1423547A - Control arrangement for position control of a member - Google Patents

Control arrangement for position control of a member

Info

Publication number
GB1423547A
GB1423547A GB2597173A GB2597173A GB1423547A GB 1423547 A GB1423547 A GB 1423547A GB 2597173 A GB2597173 A GB 2597173A GB 2597173 A GB2597173 A GB 2597173A GB 1423547 A GB1423547 A GB 1423547A
Authority
GB
United Kingdom
Prior art keywords
program
control
speed
signal
freedom
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
Application number
GB2597173A
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.)
Vereinigte Flugtechnische Werke Fokker GmbH
Original Assignee
Vereinigte Flugtechnische Werke Fokker GmbH
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 DE19722226480 external-priority patent/DE2226480C3/en
Application filed by Vereinigte Flugtechnische Werke Fokker GmbH filed Critical Vereinigte Flugtechnische Werke Fokker GmbH
Publication of GB1423547A publication Critical patent/GB1423547A/en
Expired legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/19Numerical 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
    • G05B19/33Numerical 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
    • G05B19/35Numerical 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
    • G05B19/351Numerical 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
    • G05B19/353Numerical 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 with speed feedback only

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

1423547 Automatic control of positioning VEREINIGTE FLUGTECHNISCHE WERKEFOKKER GmbH 31 May 1973 [31 May 1972] 25971/73 Heading G3N In a program controlled positioning system, a position control loop for each degree of positional freedom contains a secondary speed control loop under the control of a computer 41 receiving additional information (maximum acceleration and speed, system load) controlling the speed of a member to be positioned. As shown a digital central control unit 20, see also Fig. 2 (not shown) for a manipulating, lacquer spraying, or welding system receives manual (21) or program (22) information as well as information from interface (28) enabling conjoint operation with other remote manipulating, welding, or lacquering systems and controls control loops (30-32) for positioning gripping device (14), Fig. 1 (not shown) in vertical and horizontal translational, and rotation about a vertical axis, degrees of freedom respectively. Units (33-35), Fig. 2 represent control of opening and closing, rotating, and pivoting of gripping device (14). For each loop (30-32) control unit 20 provides a commanded final position signal SE for the program step, which is compared with actual position signal Si the error being fed to analogue computer 41, which can be a model of the system in a control loop. Computer 41 also receives additional information from unit 20, and provides a speed function signal V s (t), calculated to minimize the travel time without overswing. Signal V s (t) is compared with an actual speed signal V i (t) from tacho-alternator 47, the resultant, via controller 43, amplifier 44 and low inertia, ironless disc rotor motor 45 controlling the corresponding positional degree of freedom via transmission 46. Motor current is monitored to provide the system load additional information to computer 41. Programming arrangement. The program is constituted by a pre-set cross bar distribution panel, Fig. 4 (not shown), each of whose columns represents a step in the program, the rows representing: (i) a four-bit binary number for each positional degree of freedom, each number representing an address to a position register (27), Fig. 2 in the form of a multi-ganged potentiometer with setting indicators in the form of lights, and providing the commanded position signals to the loops: (ii) program delay in dependence on gripper operation: (iii) call up one of sub-routines (24-26), Fig. 2 used for repeating identical program portions, the main program not stepping until the sub-routine is complete: there being a row for each sub-routine. Program stepping rate may vary from step-to-step, each step requiring completion of the previous one, and no error indicating outputs from the system, to implement the next step. A pre-programmed non-optional speed may be programmed for each step, and comes into play if a program signal in a variable speed row of the program panel is provided. Gripper control may be independent of the program, and hydraulically or pneumatically operated. The program may be stopped at any step, or returned to the start. The manipulating system transfers workpieces between processing stations.
GB2597173A 1972-05-31 1973-05-31 Control arrangement for position control of a member Expired GB1423547A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19722226480 DE2226480C3 (en) 1972-05-31 Control device for a transfer machine

Publications (1)

Publication Number Publication Date
GB1423547A true GB1423547A (en) 1976-02-04

Family

ID=5846429

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2597173A Expired GB1423547A (en) 1972-05-31 1973-05-31 Control arrangement for position control of a member

Country Status (3)

Country Link
JP (1) JPS4949365A (en)
FR (1) FR2187142A5 (en)
GB (1) GB1423547A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0123391A1 (en) * 1983-03-25 1984-10-31 Unimation Inc. Control system for manipulation apparatus with initializing stabilization and inertia scaling

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5631517A (en) * 1980-04-03 1981-03-30 Shirubaa Stainless Kogyosho Kk Combining device
JPS61256835A (en) * 1985-05-09 1986-11-14 Mitsubishi Electric Corp Distribution line carring equipment
US5062264A (en) * 1990-07-24 1991-11-05 The University Of British Columbia Hydraulic control system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0123391A1 (en) * 1983-03-25 1984-10-31 Unimation Inc. Control system for manipulation apparatus with initializing stabilization and inertia scaling

Also Published As

Publication number Publication date
FR2187142A5 (en) 1974-01-11
JPS4949365A (en) 1974-05-13
DE2226480B2 (en) 1975-11-27
DE2226480A1 (en) 1973-12-06

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Legal Events

Date Code Title Description
PS Patent sealed