KR830005969A - 모방 제어 방식 - Google Patents

모방 제어 방식 Download PDF

Info

Publication number
KR830005969A
KR830005969A KR1019810002130A KR810002130A KR830005969A KR 830005969 A KR830005969 A KR 830005969A KR 1019810002130 A KR1019810002130 A KR 1019810002130A KR 810002130 A KR810002130 A KR 810002130A KR 830005969 A KR830005969 A KR 830005969A
Authority
KR
South Korea
Prior art keywords
imitation
axis
control method
displacement
magnitude
Prior art date
Application number
KR1019810002130A
Other languages
English (en)
Other versions
KR840000862B1 (ko
Inventor
료오지 이마제끼
에쓰오 야마자끼
Original Assignee
이나바 세이우에몽
후지쓰후아낙크 가부시끼가이샤
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
Application filed by 이나바 세이우에몽, 후지쓰후아낙크 가부시끼가이샤 filed Critical 이나바 세이우에몽
Publication of KR830005969A publication Critical patent/KR830005969A/ko
Application granted granted Critical
Publication of KR840000862B1 publication Critical patent/KR840000862B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
    • B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
    • B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
    • B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
    • B23Q35/121—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using mechanical sensing
    • B23Q35/123—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using mechanical sensing the feeler varying the impedance in a circuit

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Machine Tool Copy Controls (AREA)
  • Control Of Position Or Direction (AREA)
  • Automatic Control Of Machine Tools (AREA)

Abstract

내용 없음

Description

모방 제어 방식
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제3도는 본 발명 실시예의 블럭도.
제4도는 본 발명의 다른 실시예의 블럭도.

Claims (1)

  1. 모형의 표면을 추적하는 모방 헤드로 부터의 변위 신호에 의해 변위의 크기와 방향을 연산하고 변위의 크기가 일정하게 되도록 모방 속도가 계산되어설정된 모방방향으로 모방을 행하는 모방제어 방식에 있어서 X,Y 및 Z 축의 모방 공작 기계의 위치를 검출하는 위치 검출기와 X 또는 Y축의 모방 속도를 제어하는 각도 교정 수단을 구비하여 설정된 모방 방향과 상기 위치 검출기에서 구한 실제의 모방 방향과의 차가 X축 또는 Y축 방향의 일정한 이동 거리마다 구해지며 X축 및 Y축 방향의 일정한 이동 거리마다 구해지며 X축 및 Y축 방향의 모방속도가 상기 차를 영으로 감소하도록 상기 각도 교정 수단에 의해 교정되는 것을 특징으로 하는 모방 제어방식.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019810002130A 1980-06-18 1981-06-12 모방 제어 방식 KR840000862B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP82567 1980-06-18
JP55082567A JPS6028624B2 (ja) 1980-06-18 1980-06-18 倣い制御装置

Publications (2)

Publication Number Publication Date
KR830005969A true KR830005969A (ko) 1983-09-14
KR840000862B1 KR840000862B1 (ko) 1984-06-20

Family

ID=13778060

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019810002130A KR840000862B1 (ko) 1980-06-18 1981-06-12 모방 제어 방식

Country Status (5)

Country Link
US (1) US4424570A (ko)
EP (1) EP0042304B1 (ko)
JP (1) JPS6028624B2 (ko)
KR (1) KR840000862B1 (ko)
DE (1) DE3165999D1 (ko)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58207107A (ja) * 1982-05-28 1983-12-02 Fanuc Ltd サンプリング制御方式
JPS59161252A (ja) * 1983-03-04 1984-09-12 Fanuc Ltd 倣い制御装置
JPS59209741A (ja) * 1983-05-16 1984-11-28 Fanuc Ltd 任意方向倣い制御方式
JPS6031954U (ja) * 1983-08-11 1985-03-04 フアナツク株式会社 倣い制御装置におけるシ−ケンス切換器
JPS6099549A (ja) * 1983-11-02 1985-06-03 Fanuc Ltd 任意方向ならい方法
US4608658A (en) * 1984-04-13 1986-08-26 Pencept, Inc. Method and apparatus for removing noise at the ends of a stroke caused by retracing
JPS6133845A (ja) * 1984-07-27 1986-02-17 Fanuc Ltd 任意方向倣い制御装置
GB8626734D0 (en) * 1986-11-08 1986-12-10 Renishaw Plc Coordinate positioning apparatus
JPH0729257B2 (ja) * 1987-07-31 1995-04-05 ファナック株式会社 デジタイジング装置
JPH01109057A (ja) * 1987-10-23 1989-04-26 Fanuc Ltd デジタイジング方法
US4848137A (en) * 1988-03-23 1989-07-18 The Boeing Company Automated shim manufacturing system
JP2752379B2 (ja) * 1988-07-08 1998-05-18 ファナック株式会社 デジタイジング方法
JPH02145908A (ja) * 1988-11-28 1990-06-05 Okuma Mach Works Ltd デジタイジング装置におけるスタイラスのたわみ補正自動設定方法
JPH0386447A (ja) * 1989-08-25 1991-04-11 Fanuc Ltd ならい制御装置
JP3041039B2 (ja) * 1990-05-11 2000-05-15 フット イメージ テクノロジー，インコーポレイテッド 足測定、靴型及び履き物製造の統合システム
US5206804A (en) * 1990-05-11 1993-04-27 Foot Image Technology, Inc. Footwear visual image cataloging and sizing
US5237520A (en) * 1990-05-11 1993-08-17 Foot Image Technology, Inc. Foot measurement and footwear sizing system
US5128880A (en) * 1990-05-11 1992-07-07 Foot Image Technology, Inc. Foot measurement and footwear sizing system
US5195030A (en) * 1990-05-11 1993-03-16 Foot Image Technology, Inc. System and method of foot shape imaging and overlay

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US412023A (en) * 1889-10-01 Thomas
JPS54125375A (en) * 1978-03-23 1979-09-28 Fanuc Ltd Profiling control system

Also Published As

Publication number Publication date
EP0042304A1 (en) 1981-12-23
EP0042304B1 (en) 1984-09-12
DE3165999D1 (en) 1984-10-18
JPS578056A (en) 1982-01-16
KR840000862B1 (ko) 1984-06-20
JPS6028624B2 (ja) 1985-07-05
US4424570A (en) 1984-01-03

Similar Documents

Publication Publication Date Title
KR830005969A (ko) 모방 제어 방식
KR930017737A (ko) 서스펜션 제어장치
DE59913186D1 (de) Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters
GB8610800D0 (en) Resultant velocity control
KR920010312A (ko) 제품의 3차원 위치계측방법
CA2045438A1 (en) Control device for robot in inertial coordinate system
KR880700347A (ko) 수평관절형 로보트의 가감속 제어방식
KR830005968A (ko) 3차원 모방 제어 방식
JPS57160378A (en) Position controlling method and device for motor
DE3480995D1 (de) Vorrichtung zum erfassen der mitte eines steuerwinkels eines fahrzeuges.
EP0610758A3 (en) Method and assembly for determining the size and position of a roll head.
ATE207201T1 (de) Verfahren zum bestimmen der rollage eines rollenden flugobjektes
KR830009900A (ko) 수치 제어 장치
DE3587320T2 (de) Vorrichtung zum nachweis der absoluten stellung eines servoregelsystems.
KR920019491A (ko) 로보트의 속도 변동 최소화 제어방법
KR900017735A (ko) 이송물의 직선 이송방법
SU901241A1 (ru) Устройство дл управлени гидроприводами механизмов передвижени крана мостового типа
JPS6420407A (en) Sensor driving method for automatic work measuring instrument
GB1513558A (en) Tracking system
SU1416279A1 (ru) Способ стабилизации рабочего зазора между инструментом и листовым материалом
KR920014566A (ko) 로보트의 적응 제어방법
JPS5269451A (en) Controlling method for electrostatic coating
JPS5666105A (en) Control device for travelling of vehicle
KR960003897A (ko) 로보트의 주행제어방법
JPS6464996A (en) Centerrest control method of rotary type crane