JP5026413B2 - 拡張可能な動作制御システム - Google Patents
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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
- 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
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
-
- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
-
- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31207—Master sends global files to autonomous controllers, feedback of process status
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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
- G05B2219/33—Director till display
- G05B2219/33277—Distributed system with host as leader, host with multiple of agents
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
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Description
本出願は、その全体が参照として本願明細書に引用されており、2005年6月8日に出願された米国仮出願第60/688,636の優先権を主張する。
n*m<=128
m<=6
PickFrom(IRobot robot, int robotLocation, IMaterialHolder materialSource, int sourceLocation)
ここで、robotは、取り出し動作に対する主要な主体を指定する。
robotLocationは、取り出し動作に対して用いられるべき通常チップである主体インデックスを指定する。
MaterialSourceは、そのとき物質を保持しているデバイスを指定する。
sourceLocationは、物質が存在するデバイスへのインデックスを指定する。
PlaceTo(Irobot robot, int robotLocation, IMaterialHolder materialDestination, int destinationLocation)
ここで、robotは、配置動作に対する主な主体(ロボット)を指定する。
robotLocationは、通常物質が存在するチップである、主体インデックスを指定する。materialDestinationは、あて先オブジェクトを指定する。さらに、
destinationLocationは、あて先オブジェクトへのインデックスを指定する。
PickPrep(IRobot robot, int robotLocation, IMaterialHolder materialSource, int sourceLocation)
ここで、robotは、取り出し動作に対する主な主体を指定する。
robotLocationは、取り出しオペレーションに対して用いられるべき通常チップである主体インデックスを指定する。
materialSourceは、そのとき物質を保持するデバイスを指定する。そして、
sourceLocationは、物質が存在するデバイスへのインデックスを指定する。
PlacePrep(IRobot robot, int robotLocation, IMaterialHolder materialDestination, int destinationLocation)
ここで、robotは、配置動作に対する主な主体(ロボット)を指定する。
robotLocationは、物質が存在する通常チップである、主体インデックスを指定する。
materia1Destinationは、あて先オブジェクトを指定する。そして、
destinationLocationは、あて先オブジェクトへのインデックスを指定する。
MoveFromTo(IRobot robot, int robotLocation, IMaterialHolder materialSource, in sourceLocation IMaterialHolder materialDestination, int destinationLocation)
ここで、robotは、オペレーションに対して用いられるべき主な主体を指定する。
robotLocationは、オペレーションに対して用いられるべき通常チップである主体インデックスを指定する。
materia1Sourceは、そのとき物質を保持する目的を指定する。
sourceLocationは、物質が存在する目的へのインデックスを指定する。
materia1Destinatianは、あて先オブジェクトを指定する。そして、
DestinationLocationは、あて先オブジェクトへのインデックスを指定する。
MapResource(IMapper, IMaterialHolder resource)
ここで、mapperは、指定された資源をマッピングすることができるデバイスを識別する。
resourceは、マッピングを要求しているデバイスを識別する。
InitializeResource(IWorkcellObject resource)
ここで、resourceは、開始する資源を指定する。
InitializeResources(recipe)
ここで、recipeは、初期化された戦略を指定する。
Claims (5)
- マスタコントローラを有するクラスタ化アーキテクチャと、
前記マスタコントローラの直接制御下にあって1つ以上の第1運動軸を駆動するために利用される1つ以上の第1リモートコントローラを含む中央制御部と、
前記マスタコントローラによって制御されているクラスタコントローラと、前記クラスタコントローラに制御されていて1つ以上の第2運動軸を駆動するために利用される1つ以上の第2リモートコントローラと、を含む分散制御部と、
を含み、
制御ループ及びフィードバックループは前記マスタコントローラと前記1つ以上の第1リモートコントローラとの間で閉じられており、
制御ループ及びフィードバックループは前記クラスタコントローラと前記1つ以上の第2リモートコントローラとの間で閉じられており、
前記マスタコントローラ、前記第1リモートコントローラ、及び前記第2リモートコントローラの内の少なくとも1つはプロセッサを含み、
前記プロセッサは、
前記1つ以上の第1又は第2運動軸のエンドエフェクタに対する最大許容オペレーティングパラメータ値を計算し、
前記エンドエフェクタに対する第2動作プロファイルにおいて前記エンドエフェクタが前記最大許容オペレーティングパラメータ値を超えないように、前記1つ以上の第1及び第2運動軸の個別の結合部に対する1つ以上の第1動作プロファイルを生成する、
ように構成されている、ことを特徴とする制御システム。 - 1つ以上の軸に対する軌道を前記軌道上の複数のポイントの各々のポイントに対する位置、速度及び加速に関して生成し、前記軸の逆ダイナミクスモデルを算出して各々の軸に対する前記軌道上の各々のポイントに対する利得値及びフィードフォワードタームを決定する回路を更に含む請求項1記載のシステム。
- マスタコントローラと、前記マスタコントローラによって制御されている少なくとも1つのクラスタコントローラと、複数のリモートコントローラとを有する制御システムを動作させる方法であって、
前記方法は、
前記マスタコントローラと1つ以上の第1リモートコントローラとの間で閉じられている制御ループ及びフィードバックループを利用して前記マスタコントローラの直接制御下にある1つ以上の第1運動軸を駆動するステップと、
前記クラスタコントローラと1つ以上の第2リモートコントローラとの間で閉じられている制御ループ及びフィードバックループを利用して前記クラスタコントローラによって制御されている1つ以上の第2運動軸を駆動するステップと、
前記1つ以上の第1及び第2運動軸のエンドエフェクタに対する最大許容オペレーティングパラメータ値を計算するステップと、
前記エンドエフェクタに対する第2動作プロファイルにおいて前記エンドエフェクタが前記最大許容オペレーティングパラメータ値を超えないように、前記1つ以上の第1及び第2運動軸の個別の結合部に対する1つ以上の第1動作プロファイルを生成するステップと、
を含むことを特徴とする方法。 - 1つ以上の軸に対する軌道を前記軌道上の複数のポイントの各々のポイントに対する位置、速度及び加速に関して生成するステップと、
前記軸の逆ダイナミクスモデルを算出して各々の軸に対する前記軌道上の各々のポイントに対する利得値及びフィードフォワードタームを決定するステップと、
各々のポイントに対する前記位置、速度、加速、利得値、及びフィードフォワードタームをフレームへグループ化するステップと、
を含むことを特徴とする請求項3記載の方法。 - 2つの連続的なフレームの間で補間して、前記軸を制御するために利用される瞬間位置、瞬間速度、瞬間フィードフォワードターム、及び瞬間利得値を得るステップを含むことを特徴とする請求項4記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US68863605P | 2005-06-08 | 2005-06-08 | |
US60/688,636 | 2005-06-08 | ||
US11/178,615 US7904182B2 (en) | 2005-06-08 | 2005-07-11 | Scalable motion control system |
US11/178,615 | 2005-07-11 | ||
PCT/US2006/021749 WO2006133096A2 (en) | 2005-06-08 | 2006-06-05 | Scalable motion control system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008543578A JP2008543578A (ja) | 2008-12-04 |
JP5026413B2 true JP5026413B2 (ja) | 2012-09-12 |
Family
ID=37499003
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008515803A Active JP5026413B2 (ja) | 2005-06-08 | 2006-06-05 | 拡張可能な動作制御システム |
Country Status (7)
Country | Link |
---|---|
US (4) | US7904182B2 (ja) |
EP (3) | EP2610694A3 (ja) |
JP (1) | JP5026413B2 (ja) |
KR (1) | KR101359541B1 (ja) |
CN (1) | CN101297249B (ja) |
TW (1) | TWI447542B (ja) |
WO (1) | WO2006133096A2 (ja) |
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US20200166913A1 (en) | 2020-05-28 |
US20070010898A1 (en) | 2007-01-11 |
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EP2610694A3 (en) | 2013-09-04 |
EP2980665A3 (en) | 2016-04-20 |
US20110118855A1 (en) | 2011-05-19 |
KR20080016942A (ko) | 2008-02-22 |
WO2006133096A3 (en) | 2007-05-03 |
KR101359541B1 (ko) | 2014-02-07 |
CN101297249B (zh) | 2012-06-20 |
WO2006133096A8 (en) | 2008-04-24 |
TW200710618A (en) | 2007-03-16 |
TWI447542B (zh) | 2014-08-01 |
EP1913450A2 (en) | 2008-04-23 |
EP2980665A2 (en) | 2016-02-03 |
WO2006133096A2 (en) | 2006-12-14 |
EP2610694A2 (en) | 2013-07-03 |
US20160018816A1 (en) | 2016-01-21 |
US9020617B2 (en) | 2015-04-28 |
CN101297249A (zh) | 2008-10-29 |
US10488851B2 (en) | 2019-11-26 |
JP2008543578A (ja) | 2008-12-04 |
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