KR830008219A - 산업 로보트용 제어 시스템 - Google Patents
산업 로보트용 제어 시스템 Download PDFInfo
- Publication number
- KR830008219A KR830008219A KR1019810003244A KR810003244A KR830008219A KR 830008219 A KR830008219 A KR 830008219A KR 1019810003244 A KR1019810003244 A KR 1019810003244A KR 810003244 A KR810003244 A KR 810003244A KR 830008219 A KR830008219 A KR 830008219A
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- control system
- industrial robot
- gain multiplier
- error
- Prior art date
Links
- 238000010586 diagram Methods 0.000 description 2
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
- G05B19/23—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 point-to-point control
-
- 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
- G05B19/23—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 point-to-point control
- G05B19/231—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 point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/232—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 point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
Abstract
내용 없음
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 1실시예에 따른 산업 로보트용 제어시스템을 사용하는 산업로보크 장치의 개략구성을 나타내는 블록다이어그램.
제2도는 제1도의 장치에서 제어회로를 나타내는 블럭회로 다이어그램,
Claims (2)
- 위치지령신호(Position command signal)와 위치궤환신호(Position feedback signal)와, 로보트의 작동을 제어하기 위한 에러 레지스터(error register), 디지탈-아날로그 변환기, 상기 에러 레지스터와 디지탈-아날로그 변환기 사이에 위치이득 멀티 플라이어(Position gain multiplier)를 포함하는 제어회로에 따라 제어되는 로보트를 갖추고 이에 의해 상기 로보트를 구동시키는 모우터가 회전을 정지했을 때 또는 상기 모우터가 회전을 정지할 준비가 되어있어 상기 에러 레지스터에 유지된 에러값이 예정치보다 크게 되었을때 상기 위치이득 멀티 플라이어의 증백율(multiplication factor)이 증대되는 것을 특징으로 하는 산업로보트용 제어시스템.
- 시프트 레지스터(shiftregister)가 상기 위치 이득 멀티 플라이어용으로 사용되는 것을 특징으로 하는 특허청구의 범위 제1항에 기재된 산업 로보트용 제어 시스템.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US55-119827 | 1980-09-01 | ||
JP55119827A JPS5745602A (en) | 1980-09-01 | 1980-09-01 | Control system for industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
KR830008219A true KR830008219A (ko) | 1983-11-16 |
Family
ID=14771235
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019810003244A KR830008219A (ko) | 1980-09-01 | 1981-09-01 | 산업 로보트용 제어 시스템 |
Country Status (4)
Country | Link |
---|---|
US (1) | US4374349A (ko) |
EP (1) | EP0047113A3 (ko) |
JP (1) | JPS5745602A (ko) |
KR (1) | KR830008219A (ko) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57113115A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
JPS57113116A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
US4638230A (en) * | 1982-09-15 | 1987-01-20 | Ampex Corporation | Bang-bang controlled velocity command generator |
CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
US4595867A (en) * | 1983-09-26 | 1986-06-17 | Engine Monitor, Inc. | Steering amplifier |
US4611377A (en) * | 1984-06-04 | 1986-09-16 | Eoa Systems, Inc. | Interchangeable robot end-of-arm tooling system |
US4676142A (en) * | 1984-06-04 | 1987-06-30 | Eoa Systems, Inc. | Adapter with modular components for a robot end-of-arm interchangeable tooling system |
USRE32854E (en) * | 1984-06-04 | 1989-02-07 | Eoa Systems, Inc. | Adapter with modular components for a robot end-of-arm interchangeable tooling system |
JPS6224991A (ja) * | 1985-07-26 | 1987-02-02 | 松下電器産業株式会社 | 産業用ロボツト |
US4672281A (en) * | 1985-10-10 | 1987-06-09 | Durstin Machine & Manufacturing, Inc. | Control for electric motor that drives a robotic appendage |
US4727303A (en) * | 1986-05-22 | 1988-02-23 | Gmf Robotics Corporation | Positional control method and system utilizing same |
US4808899A (en) * | 1987-03-02 | 1989-02-28 | Cincinnati Milacron Inc. | Method and apparatus for automatic servo gain adjustment for machine control |
US5040159A (en) * | 1989-03-20 | 1991-08-13 | Hewlett-Packard Company | Mechanical sense of touch in a control system |
US5497063A (en) * | 1993-09-16 | 1996-03-05 | Allen-Bradley Company, Inc. | Fuzzy logic servo controller |
US5397973A (en) * | 1993-09-16 | 1995-03-14 | Allen-Bradley Company, Inc. | Gain control for fuzzy logic controller |
JPH08286758A (ja) * | 1995-04-11 | 1996-11-01 | Canon Inc | 位置決め装置 |
JP3628119B2 (ja) * | 1996-07-24 | 2005-03-09 | ファナック株式会社 | サーボモータの制御方法 |
SE516720C2 (sv) * | 1999-04-01 | 2002-02-19 | Abb Ab | Utrustning för styrning av en industrirobot och förfarande för programmering och/eller justering av robotens rörelse |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3710222A (en) * | 1971-01-15 | 1973-01-09 | Allen Bradley Co | Numerical control servo drive signal generating system |
JPS549377A (en) * | 1977-06-23 | 1979-01-24 | Toshiba Corp | Positioning control system |
JPS54106776A (en) * | 1978-02-10 | 1979-08-22 | Fanuc Ltd | Positioning device |
US4215301A (en) * | 1978-10-10 | 1980-07-29 | Hewlett-Packard Company | Digital servo positioning circuit |
-
1980
- 1980-09-01 JP JP55119827A patent/JPS5745602A/ja active Pending
-
1981
- 1981-08-20 US US06/294,797 patent/US4374349A/en not_active Expired - Fee Related
- 1981-08-21 EP EP81303830A patent/EP0047113A3/en not_active Withdrawn
- 1981-09-01 KR KR1019810003244A patent/KR830008219A/ko unknown
Also Published As
Publication number | Publication date |
---|---|
EP0047113A2 (en) | 1982-03-10 |
JPS5745602A (en) | 1982-03-15 |
EP0047113A3 (en) | 1983-07-06 |
US4374349A (en) | 1983-02-15 |
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