JP6430335B2 - 多数の要素システムを制御調節する装置および方法 - Google Patents

多数の要素システムを制御調節する装置および方法 Download PDF

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JP6430335B2
JP6430335B2 JP2015114768A JP2015114768A JP6430335B2 JP 6430335 B2 JP6430335 B2 JP 6430335B2 JP 2015114768 A JP2015114768 A JP 2015114768A JP 2015114768 A JP2015114768 A JP 2015114768A JP 6430335 B2 JP6430335 B2 JP 6430335B2
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force
torque
compensation
adjustment
control
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JP2015231663A5 (enExample
JP2015231663A (ja
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ビッテロルフ ダーフィト
ビッテロルフ ダーフィト
ハマン イェンス
ハマン イェンス
ハム カルステン
ハム カルステン
タウフマン スヴェン
タウフマン スヴェン
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Siemens AG
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39194—Compensation gravity
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39319—Force control, force as reference, active compliance

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)
JP2015114768A 2014-06-10 2015-06-05 多数の要素システムを制御調節する装置および方法 Active JP6430335B2 (ja)

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Application Number Priority Date Filing Date Title
EP14171752.0 2014-06-10
EP14171752.0A EP2954986B1 (de) 2014-06-10 2014-06-10 Vorrichtung und Verfahren zum Steuern und Regeln eines Mehrkörpersystems

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JP2015231663A JP2015231663A (ja) 2015-12-24
JP2015231663A5 JP2015231663A5 (enExample) 2017-03-02
JP6430335B2 true JP6430335B2 (ja) 2018-11-28

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US (1) US10007280B2 (enExample)
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KR102683264B1 (ko) 2022-03-18 2024-07-08 영산대학교산학협력단 딥러닝을 활용한 재활치료용 로봇의 절대 위치 예측 방법

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Publication number Publication date
US10007280B2 (en) 2018-06-26
EP2954986B1 (de) 2020-05-06
JP2015231663A (ja) 2015-12-24
US20150355647A1 (en) 2015-12-10
EP2954986A1 (de) 2015-12-16

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