KR920014567A - 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법 - Google Patents

컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법 Download PDF

Info

Publication number
KR920014567A
KR920014567A KR1019910001347A KR910001347A KR920014567A KR 920014567 A KR920014567 A KR 920014567A KR 1019910001347 A KR1019910001347 A KR 1019910001347A KR 910001347 A KR910001347 A KR 910001347A KR 920014567 A KR920014567 A KR 920014567A
Authority
KR
South Korea
Prior art keywords
convolution
generation method
trajectory generation
robot trajectory
torque waveform
Prior art date
Application number
KR1019910001347A
Other languages
English (en)
Other versions
KR940002206B1 (ko
Inventor
전병환
김성권
Original Assignee
강진구
삼성전자 주식회사
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 강진구, 삼성전자 주식회사 filed Critical 강진구
Priority to KR1019910001347A priority Critical patent/KR940002206B1/ko
Priority to US07/825,093 priority patent/US5159250A/en
Priority to JP4012408A priority patent/JPH0818264B2/ja
Publication of KR920014567A publication Critical patent/KR920014567A/ko
Application granted granted Critical
Publication of KR940002206B1 publication Critical patent/KR940002206B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34042—Filter
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43034—Form of profile, ramp, trapezoid, S-curve, exponential
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43042—Convolution of speed curve with torque curve
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43092—Torque curve, wave stored in rom, ram

Landscapes

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

Abstract

내용 없음

Description

컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제2도는 샘플링 타임 및 최대속도 간의 관계 그래프, 제3도는 가속구간을 가지는 토오크 파형의 예시도, 제4도는 본 발명의 컨벌루션에 의해 구해진 속도궤적 파형도, 제5도는 본 발명의 동작순서를 도시한 플로우챠트.

Claims (2)

  1. 콘트롤 시스템에 가장 적합한 토오크파형을 구하는 제1스텝과, 상기 제1스텝에서 구해진 토오크파형을 기억장치에 기억시키는 제2스텝과, 로보트가 구동하고자하는 변위량에 대한 입력신호를 생성하는 제3스텝과 상기 제1스텝 및 제3스텝에서 구해진 변위량에 대한 입력신호 및 토오크파형을 컨벌루션 하는 제4스텝과, 상기 제4스텝에서 얻어진 속도궤적을 적분하여 위치궤적을 구하는 제5스텝과, 상기 제4스텝 및 제5스텝에서 구한 속도궤적 및 위치궤적에 따라 로보트를 구동하는 제6스텝으로 이루어진것을 특징으로 하는 컨벌루션을 이용한 로보트의 궤적 발생방법.
  2. 제1항에 있어서, 상기 기억장치는 마이크로프로세서의 롬 또는 램인 것을 특징으로 하는 컨벌루션을 이용한 로보트의 궤적 발생방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019910001347A 1991-01-26 1991-01-26 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법 KR940002206B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019910001347A KR940002206B1 (ko) 1991-01-26 1991-01-26 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법
US07/825,093 US5159250A (en) 1991-01-26 1992-01-24 Robot control method
JP4012408A JPH0818264B2 (ja) 1991-01-26 1992-01-27 ロボットの制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019910001347A KR940002206B1 (ko) 1991-01-26 1991-01-26 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법

Publications (2)

Publication Number Publication Date
KR920014567A true KR920014567A (ko) 1992-08-25
KR940002206B1 KR940002206B1 (ko) 1994-03-19

Family

ID=19310356

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910001347A KR940002206B1 (ko) 1991-01-26 1991-01-26 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법

Country Status (3)

Country Link
US (1) US5159250A (ko)
JP (1) JPH0818264B2 (ko)
KR (1) KR940002206B1 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114779721A (zh) * 2022-06-20 2022-07-22 济南邦德激光股份有限公司 基于位置点进行速度滤波的方法、设备和存储介质

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4441240C1 (de) * 1994-11-19 1996-05-09 Leica Lasertechnik Vorrichtung und Verfahren zur Regelung der Bewegung eines Gegenstandes
DE19710268A1 (de) * 1997-03-13 1998-09-24 Heidenhain Gmbh Dr Johannes Verfahren zur Bearbeitung eines Werkstücks mit maximaler Bearbeitungsgeschwindigkeit
KR101661599B1 (ko) * 2014-08-20 2016-10-04 한국과학기술연구원 하드웨어 한계를 고려하는 동작 데이터의 압축 및 복원을 이용한 로봇 동작 데이터 처리 시스템
JP2018060289A (ja) * 2016-10-03 2018-04-12 オムロン株式会社 軌跡生成装置、軌跡生成装置の制御方法、制御プログラム、および記録媒体
CN110799309B (zh) * 2017-07-13 2023-03-28 优傲机器人公司 具有配置相关动力学的系统的振动控制

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2144061A5 (ko) * 1971-06-29 1973-02-09 Matra Engins
JPS57189789A (en) * 1981-05-16 1982-11-22 Toyama Machine Works Controller for speed of industrial robot
JPS5962909A (ja) * 1982-10-01 1984-04-10 Fanuc Ltd 加減速装置
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
DE3408551A1 (de) * 1984-03-08 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Verfahren zum verringern von bahnfehlern bei rechnergesteuerten werkzeugmaschinen oder industrierobotern
JPS6261104A (ja) * 1985-09-11 1987-03-17 Fanuc Ltd 水平関節型ロボツトの加減速制御方式
US4691152A (en) * 1986-02-19 1987-09-01 International Business Machines Corporation Data disk drive velocity estimator
JPS6436303A (en) * 1987-07-31 1989-02-07 Matsushita Electric Ind Co Ltd Angular acceleration control method
JPH01173209A (ja) * 1987-12-28 1989-07-07 Nitto Seiko Co Ltd 産業用ロボットの制御方法
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
JP2808119B2 (ja) * 1988-07-28 1998-10-08 ファナック株式会社 加減速制御方式
US4893068A (en) * 1988-11-15 1990-01-09 Hughes Aircraft Company Digital servo employing switch mode lead/lag integrator
JPH02148111A (ja) * 1988-11-30 1990-06-07 Toshiba Corp ロボットの制御方法及びその装置
ATE117815T1 (de) * 1989-09-27 1995-02-15 Siemens Ag Verfahren zur numerischen positions- oder bahnsteuerung.
EP0419705A1 (de) * 1989-09-27 1991-04-03 Siemens Aktiengesellschaft Verfahren zur Ruckbegrenzung von numerischen Antriebssystemen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114779721A (zh) * 2022-06-20 2022-07-22 济南邦德激光股份有限公司 基于位置点进行速度滤波的方法、设备和存储介质

Also Published As

Publication number Publication date
JPH0818264B2 (ja) 1996-02-28
JPH0557644A (ja) 1993-03-09
US5159250A (en) 1992-10-27
KR940002206B1 (ko) 1994-03-19

Similar Documents

Publication Publication Date Title
KR890001791A (ko) 차량용 정속 주행장치
KR900006880A (ko) 지그자동 설계장치
KR880701039A (ko) 속도 제어방식
KR910003909A (ko) 모우터의 제어장치
KR930007055A (ko) 서어보 모우터용 제어장치
KR920014567A (ko) 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법
KR830008219A (ko) 산업 로보트용 제어 시스템
KR890701290A (ko) 산업용 로봇에 있어서의 모우터 구동 방법
KR870004352A (ko) 위치 제어장치
KR860700236A (ko) 동력 조향 제어 장치 및 방법
KR890000951A (ko) 전기 유압 서보시스템
KR920008492A (ko) 바디홈 내의 풍속측정방법
KR920000531A (ko) 차량용 변속기의 제어방법
KR900702440A (ko) 서보제어장치
CA2119542A1 (en) Programming response to electronically-controlled gauges
KR840003367A (ko) 수평운동 구동 엘레멘트 제어장치
KR900700950A (ko) 서보모타 제어 방법
KR900000768A (ko) 곡면생성 방식
KR920018964A (ko) 전하전송장치
KR940006228A (ko) 와이어 본딩장치의 모터제어회로
KR900702431A (ko) 수치 제어장치
KR920014568A (ko) 로보트의 가감속 궤적발생방법
KR920001465A (ko) 테이프 콘트롤 무신호시의 서어보 제어 방법
SU424169A1 (ru) Устройство для возведения в степень широтно-импульсных сигналов
KR960027229A (ko) 고정확성을 갖는 모터의 원점 복귀방법

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20030227

Year of fee payment: 10

LAPS Lapse due to unpaid annual fee