GB1423547A - Control arrangement for position control of a member - Google Patents
Control arrangement for position control of a memberInfo
- 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
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
- G05B19/353—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 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.
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)
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)
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 |
-
1973
- 1973-05-30 FR FR7319891A patent/FR2187142A5/fr not_active Expired
- 1973-05-31 GB GB2597173A patent/GB1423547A/en not_active Expired
- 1973-05-31 JP JP6040873A patent/JPS4949365A/ja active Pending
Cited By (1)
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 |