JP4392251B2 - 送り駆動系の制御装置 - Google Patents
送り駆動系の制御装置 Download PDFInfo
- Publication number
- JP4392251B2 JP4392251B2 JP2004002297A JP2004002297A JP4392251B2 JP 4392251 B2 JP4392251 B2 JP 4392251B2 JP 2004002297 A JP2004002297 A JP 2004002297A JP 2004002297 A JP2004002297 A JP 2004002297A JP 4392251 B2 JP4392251 B2 JP 4392251B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- feed
- actuator
- moving body
- 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.)
- Expired - Fee Related
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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
- G05B19/21—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 incremental digital measuring device
- G05B19/25—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 incremental digital measuring device for continuous-path control
- G05B19/251—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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/253—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 incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
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- 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
- G05B2219/41006—Change gain as function of speed and position
-
- 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
- G05B2219/41024—High gain for low command speed, torque or position error equals or near zero
-
- 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
- G05B2219/42073—Position and speed feedback, speed derived from position reference
-
- 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
Description
Claims (2)
- 移動体に連結された複数のアームをアクチュエータによって駆動して保持基台に対する移動体の位置及び姿勢を自由に変化させるパラレルリンク機構の駆動を制御する駆動装置制御部と、前記アクチュエータを制御するための指令を前記駆動装置制御部へ与える数値制御装置と、を備えた送り駆動系の制御装置において、
アクチュエータの送り速度及び移動体の位置又は姿勢に応じて駆動装置制御部の制御パラメータを可変する制御パラメータ計算部であって、移動体の位置又は姿勢に応じて変化する機械剛性が低いほど、かつ、アクチュエータの送り速度が大きいほど、前記アクチュエータの応答性が低くなるように前記制御パラメータの値を可変する制御パラメータ計算部を含み、
アクチュエータの送り速度及び移動体の位置又は姿勢に応じて駆動装置制御部の制御パラメータが可変されることを特徴とする送り駆動系の制御装置。 - 請求項1記載の送り駆動系の制御装置において、
制御パラメータ計算部は、数値制御装置が設定する移動体の補間位置CP及び駆動装置制御部が設定するアクチュエータの送り速度LVに基づいて制御パラメータを可変することを特徴とする送り駆動系の制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004002297A JP4392251B2 (ja) | 2004-01-07 | 2004-01-07 | 送り駆動系の制御装置 |
US11/028,362 US7129665B2 (en) | 2004-01-07 | 2005-01-03 | Control apparatus for feed driving system |
DE200510000817 DE102005000817A1 (de) | 2004-01-07 | 2005-01-05 | Steuervorrichtung für ein Vorschubantriebssystem |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004002297A JP4392251B2 (ja) | 2004-01-07 | 2004-01-07 | 送り駆動系の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005196488A JP2005196488A (ja) | 2005-07-21 |
JP4392251B2 true JP4392251B2 (ja) | 2009-12-24 |
Family
ID=34709037
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004002297A Expired - Fee Related JP4392251B2 (ja) | 2004-01-07 | 2004-01-07 | 送り駆動系の制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7129665B2 (ja) |
JP (1) | JP4392251B2 (ja) |
DE (1) | DE102005000817A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4025137B2 (ja) * | 2002-08-02 | 2007-12-19 | 出光興産株式会社 | アントラセン誘導体及びそれを利用した有機エレクトロルミネッセンス素子 |
EP1787749B1 (de) * | 2004-04-23 | 2008-10-08 | Schott AG | Vorrichtung zur Erzeugung von Mikrostrukturen |
JP2008302449A (ja) * | 2007-06-06 | 2008-12-18 | Fanuc Ltd | ロボット制御装置 |
JP5171444B2 (ja) * | 2008-07-09 | 2013-03-27 | オークマ株式会社 | 切削加工方法及び切削加工装置 |
LT5909B (lt) | 2011-05-11 | 2013-03-25 | Ab "Vilkyškių Pieninė" | Pieno produktų su sumažintu sočiųjų riebalų rūgščių kiekiu gamybos būdas |
JP2013158874A (ja) * | 2012-02-03 | 2013-08-19 | Yaskawa Electric Corp | パラレルリンクロボットシステム |
WO2018029910A1 (ja) * | 2016-08-08 | 2018-02-15 | 三菱電機株式会社 | パラレルリンク機構の制御装置 |
CN111093912B (zh) * | 2017-09-08 | 2023-02-17 | Ntn株式会社 | 采用平行连杆机构的作业装置 |
CN108170102B (zh) * | 2018-02-26 | 2020-12-01 | 湖南戈人自动化科技有限公司 | 一种运动控制系统 |
JP7140508B2 (ja) | 2018-02-26 | 2022-09-21 | Ntn株式会社 | パラレルリンク機構を用いた作業装置およびその制御方法 |
JP7412664B1 (ja) | 2023-06-16 | 2024-01-12 | 三菱電機株式会社 | 数値制御装置および数値制御方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2689748B2 (ja) * | 1991-03-26 | 1997-12-10 | 松下電器産業株式会社 | ロボットの制御方法 |
JPH04310104A (ja) * | 1991-04-09 | 1992-11-02 | Matsushita Electric Ind Co Ltd | ロボットのサーボ制御装置 |
JPH06138950A (ja) * | 1992-10-22 | 1994-05-20 | Toyoda Mach Works Ltd | フィードバック制御方式のロボット制御装置 |
JPH08161015A (ja) * | 1994-12-02 | 1996-06-21 | Ricoh Co Ltd | 多関節型ロボットの駆動制御方法 |
JPH0916232A (ja) * | 1995-06-28 | 1997-01-17 | Fanuc Ltd | 低剛性ロボットの制御方法 |
JPH09319420A (ja) * | 1996-05-31 | 1997-12-12 | Ricoh Co Ltd | 組立ロボット |
JPH11156672A (ja) * | 1997-08-25 | 1999-06-15 | Yoshiaki Kakino | 数値制御装置及びこれを備えた工作機械 |
JPH11277469A (ja) | 1998-03-27 | 1999-10-12 | Toyoda Mach Works Ltd | パラレルリンク機構の制御方法及び制御装置 |
JPH11347983A (ja) * | 1998-06-11 | 1999-12-21 | Meidensha Corp | マニプレータの動作制限装置 |
JP2001014014A (ja) * | 1999-07-02 | 2001-01-19 | Mitsubishi Electric Corp | 数値制御方法及びその装置 |
JP3670892B2 (ja) * | 1999-07-16 | 2005-07-13 | オークマ株式会社 | パラレルメカニズムの制御装置 |
JP2001092508A (ja) * | 1999-07-16 | 2001-04-06 | Okuma Corp | パラレルメカニズム工作機械の数値制御装置 |
JP3587363B2 (ja) * | 2000-03-09 | 2004-11-10 | 三菱電機株式会社 | 数値制御装置及び数値制御方法 |
JP2002178237A (ja) | 2000-12-14 | 2002-06-25 | Toyoda Mach Works Ltd | パラレルリンク機構の制御方法 |
JP3811027B2 (ja) | 2001-07-18 | 2006-08-16 | オークマ株式会社 | パラレルメカニズム機械の制御装置 |
-
2004
- 2004-01-07 JP JP2004002297A patent/JP4392251B2/ja not_active Expired - Fee Related
-
2005
- 2005-01-03 US US11/028,362 patent/US7129665B2/en not_active Expired - Fee Related
- 2005-01-05 DE DE200510000817 patent/DE102005000817A1/de not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
US20050146301A1 (en) | 2005-07-07 |
US7129665B2 (en) | 2006-10-31 |
DE102005000817A1 (de) | 2005-08-04 |
JP2005196488A (ja) | 2005-07-21 |
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