KR890014217A - 피드포워드 토오크 제어를 정확히 하기 위한 로보트제어 시스템 - Google Patents

피드포워드 토오크 제어를 정확히 하기 위한 로보트제어 시스템 Download PDF

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KR890014217A
KR890014217A KR1019890003586A KR890003586A KR890014217A KR 890014217 A KR890014217 A KR 890014217A KR 1019890003586 A KR1019890003586 A KR 1019890003586A KR 890003586 A KR890003586 A KR 890003586A KR 890014217 A KR890014217 A KR 890014217A
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South Korea
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coupling
robot
control system
torque
motion
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KR1019890003586A
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밍 오나가 에이미
챈드라칸트 펜커 라젠
쥬니어 라차드 제임스 캐슬러
에드윈 랜크래프트 로이
샤 카이
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디.알.랙키
웨스팅하우스 일렉트릭 코오포레에숀
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Publication of KR890014217A publication Critical patent/KR890014217A/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection
    • 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
    • G05B2219/41434—Feedforward FFW

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)

Abstract

내용 없음.

Description

피드포워드 토오크 제어를 정확히 하기 위한 로보트제어 시스템
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명을 실시하는 통상적인 로보트 제어 루프의 블럭도.
제2도는 본 발명의 실시하느 디지탈 로보트 제어 루프의 상세도.
제3도는 제2도의 디지탈 제어 루프를 행하기 위한 바람직한 회로 보드 배열을 도시한 도면.

Claims (7)

  1. 각각의 로보트 아암 결합부를 구동시키기 위한 전기모터(20)와 ; 상기 각 모터에 구동 전류를 공급하는 전력 증폭기[제1도(22), 제2도(174), 제3도(150)]와 ; 상기 관련된 전력 증폭기를 제어하기 위해 모터 명령(TOCOM)을 발생시키는 위치 명령(PCOM)에 따라, 코오크 제어 루프를 구동시키는 위치[제1도(PVB)] 및 속도 제어 루프(VFB)를 포함하는 피드백 제어루프 수단[제2도(164)]을 가진 각 결합 모터와 ; 위치 및 속도 명령을 결합하여 대응위치 및 속도 제어 루프로부터 상기 각 토오크 제어 루프에 대한 토오크 명령으로써 에러 신호[제2도(168)]를 발생시키도록, 상기 결합 모터의 운동을 감지하여 위치 및 속도 피드백 신호[제1도(PFB,VFB)]를 발생시키기 위한 수단(제1도(15) ; 제2도(150)]을 포함하는 복수의 아암 결합부를 가진 로보트 제어 시스템(제1도 내지 제3도)에 있어서, 상기 로보트 결합부 중 적어도 소정의 결합부에 인가되는 하중력을 감지하기 위한 수단[제1도, 제3도(19)]과 ; 상기 하중력 감지 수단으로부터의 출력에 따라 각 로보트 결합부[제4도(68OF,COPAN)]에 대한 실하중 모멘트를 계산하기 위한 수단(제1도(18), 제2도(130), 제3도, 6A－2(600A)]과 ; 로보트 아암에 대한 내장된 다이나믹 및 운동 데이타에 따라 각 로보트 결합부에 대한 다이나믹/운동 데이타 모멘트(682F,COMMASN)를 계산하기 위한 수단[제3도, 6A－2(600A), 제4도(682F)]과 ; 상기 각 토오크 제어 로프에 대한 상기 토오크 명령을 발생하는데 있어서, 상기 위치 및 속도 에러의 조합으로 각 결합부에 대한 데이타 및 하중모멘트를 결합시켜서 피드포워드 토오크(COMPT)로서 상기 결합된 모멘트를 인가(제2도, (136)) 하기 위한 수단(제4도, (682F))과 ; 토오크 명령 조합(168)으로 각 토오크 제어 루프에서 토오크 에러 신호를 발생시키도록 결합모터 구동 전류를 나타내는 피드부 신호(170)를 발생시키기 위한 수단[제1도(21), 제2도(175)]을 포함하는 것을 특징으로 하는 로보트 제어 시스템.
  2. 제1항에 있어서, 상기 데이타 모멘트 연산 수단은 각 결합 데이타 모멘트를 연산하기 위해 뉴우톤－오일러 다이나믹 방정식을 이용하는 것을 특징으로하는 로보트 제어 시스템.
  3. 제1항 또는 제2항에 있어서, 상기 압력 감지 수단은 엔드 이펙터에 연결된 종단 결합부에 설치되고, 상기 부하 모멘트 연산 수단은 백워드 반복방법(제4도(682F, 결합부 6 내지 결합부 1)으로 각 결합부하 모멘트를 연산하며, 상기 데이타 모멘트 연산 수단을 포워드 반복방법으로 각 결합 데이타 모멘트를 연산하기 위해 뉴우톤－오일러 다이나믹 방정식(682F 결합부 1 내지 결합부 6)을 이용하는 것을 특징으로 하는 로보트 제어 시스템.
  4. 제2항에 있어서, 상기 로보트 제어 시스템은 완전히 디지탈 방식으로 수행되며, 각 피드백 제어 루프 수단은 디지탈 위치 명령에 따라 디지탈 모터 명령을 발생시키도록 소정의 샘플링 비율로 디지탈식으로 작동하고, 각 모터 모션 감지 수단은 위치 및 속도 제어 루프에서 제어 연산 값을 얻기 위해 위치 및 속도 피드백 신호를 발생시키며, 각 전류 피드백 발생 수단은 토오크 제어 루프에서 제어 연산값을 얻기 위해 디지탈 신호를 발생시키는 것을 특징으로 하는 로보트 제어 시스템.
  5. 제4항에 있어서, 모션 플래닝 수단[제1도(12)은 상기 디지탈 위치 명령을 말생시키고, 각 결합부에 대한 연산된 토오크는 가용 토오크에 따른 계획된 속도의 감소 또는 증기를 비교하기 위해 상기 모션 플래닝 수단에 인가되는 것을 특징으로 하는 로보트 제어 시스템.
  6. 제4항에 있어서, 상기 운동 데이타는 각 링크의 길이에 따른 결합 오프셋 및 인접 링크간의 회전 각도를 포함하고, 상기 다이나믹 데이타는 각 결합부의 관성력 및 각 링크의 크기 중심 값을 포함하는 것을 특징으로 하는 로보트 제어 시스템.
  7. 제1항 또는 제6항에 있어서, 상기 운동 데이타는 각 링크 길이에 따른 결합 오프셋[제4도(674F)] 및 인접 링크간의 회전 각도를 포함하고, 상기 다이나믹 데이타는 각 결합부의 관성력 및 각 링크의 크기 중심값을 포함하는 것을 특징으로하는 로보트 제어 시스템.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019890003586A 1988-03-21 1989-03-21 피드포워드 토오크 제어를 정확히 하기 위한 로보트제어 시스템 KR890014217A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/171,500 US4925312A (en) 1988-03-21 1988-03-21 Robot control system having adaptive feedforward torque control for improved accuracy
US171500 1988-03-21

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US (1) US4925312A (ko)
EP (1) EP0334613A3 (ko)
JP (1) JPH01274980A (ko)
KR (1) KR890014217A (ko)

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