KR920019491A - 로보트의 속도 변동 최소화 제어방법 - Google Patents

로보트의 속도 변동 최소화 제어방법 Download PDF

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Publication number
KR920019491A
KR920019491A KR1019910005949A KR910005949A KR920019491A KR 920019491 A KR920019491 A KR 920019491A KR 1019910005949 A KR1019910005949 A KR 1019910005949A KR 910005949 A KR910005949 A KR 910005949A KR 920019491 A KR920019491 A KR 920019491A
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KR
South Korea
Prior art keywords
robot
speed
obtaining
value
time
Prior art date
Application number
KR1019910005949A
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English (en)
Other versions
KR940010617B1 (ko
Inventor
요시아끼 나가쮸끼
야노타쮸오
Original Assignee
오바 히로시
가와사끼 주고교 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
Priority to EP91105888A priority Critical patent/EP0507980B1/en
Application filed by 오바 히로시, 가와사끼 주고교 가부시끼가이샤 filed Critical 오바 히로시
Priority to KR1019910005949A priority patent/KR940010617B1/ko
Priority to CA002040459A priority patent/CA2040459C/en
Priority to US07/684,765 priority patent/US5293460A/en
Publication of KR920019491A publication Critical patent/KR920019491A/ko
Application granted granted Critical
Publication of KR940010617B1 publication Critical patent/KR940010617B1/ko

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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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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

Abstract

내용 없음

Description

로봇의 속도 변동 최소화 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 로봇의 속도변동 최소화 제어방법의 프로우챠트도.

Claims (2)

  1. 시간의 3차 함수로 표현한 로보트의 선단의 위치 및 속도를 나타내는 식에 대하여 시점의 위치 벡터, 시점의 속도 벡터, 종점의 위치 벡터, 종점의 속도 벡터, 임시의 이동시간을 주어서 상기 3차 함수의 각 계수를 구하는 과정과, 이들의 계수를 써서 얻어진 속도와 목표속도와의 오차의 2승화(乘和)를 구하는 과정과, 상기 2승화가 최소가 되도록하는 이동시간을 수속(收束)계산에 의해 구하는 과정과, 수속한 이동시간을 기초로 로보트 선단의 궤적을 주도록 로보트을 제어하는 과정을 갖춘것을 특징으로 하는 로보트의 속도 변동 최소화 제어 방법.
  2. 상기 제1항에 있어서, 구해진 궤적을 실현하기 위한 각 축의 가속도치를구하는 과정과, 구해진 가속도치를 규정치와 비교하여 이 규정치보다도 클때에는 속도인정치를 저하시키는 과정을 그 위에 갖추어, 이 저하시킨 속도 설정치를 써서 상기의 각 계수를 구하는 과정으로 이행하도록 한 로봇의 속도 변동 최소화 제어 방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019910005949A 1991-04-12 1991-04-13 로보트의 속도변동 최소화 제어방법 KR940010617B1 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP91105888A EP0507980B1 (en) 1991-04-12 1991-04-12 Velocity-variation minimization control method for robot
KR1019910005949A KR940010617B1 (ko) 1991-04-12 1991-04-13 로보트의 속도변동 최소화 제어방법
CA002040459A CA2040459C (en) 1991-04-12 1991-04-15 Velocity-variation minimization control method for robot
US07/684,765 US5293460A (en) 1991-04-12 1991-04-15 Velocity-variation minimization control method for robot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP91105888A EP0507980B1 (en) 1991-04-12 1991-04-12 Velocity-variation minimization control method for robot
KR1019910005949A KR940010617B1 (ko) 1991-04-12 1991-04-13 로보트의 속도변동 최소화 제어방법
CA002040459A CA2040459C (en) 1991-04-12 1991-04-15 Velocity-variation minimization control method for robot
US07/684,765 US5293460A (en) 1991-04-12 1991-04-15 Velocity-variation minimization control method for robot

Publications (2)

Publication Number Publication Date
KR920019491A true KR920019491A (ko) 1992-11-19
KR940010617B1 KR940010617B1 (ko) 1994-10-24

Family

ID=27426846

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910005949A KR940010617B1 (ko) 1991-04-12 1991-04-13 로보트의 속도변동 최소화 제어방법

Country Status (4)

Country Link
US (1) US5293460A (ko)
EP (1) EP0507980B1 (ko)
KR (1) KR940010617B1 (ko)
CA (1) CA2040459C (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
WO1999028798A2 (en) * 1997-12-02 1999-06-10 Lacent Technologies Inc. Gantry-mounted laser nozzle and method for controlling laser positioning
DE102009049172B4 (de) 2009-10-13 2019-07-25 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
IT1402158B1 (it) * 2010-10-14 2013-08-28 Agenzia Naz Per Le Nuove Tecnologie L En E Lo Sviluppo Economico Sostenibile Enea Dispositivo e relativo procedimento per il controllo di manipolatori .
DE102014226914B4 (de) 2014-12-23 2019-02-28 Kuka Deutschland Gmbh Override basierte vorausschauende Geschwindigkeitskappung

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4262336A (en) * 1979-04-27 1981-04-14 Pritchard Eric K Multi-axis contouring control system
US4506335A (en) * 1982-06-10 1985-03-19 Cincinnati Milacron Inc. Manipulator with controlled path motion
US4623971A (en) * 1983-06-30 1986-11-18 Cincinnati Milacron Inc. Machine control with motor velocity constraint
US4772831A (en) * 1986-11-20 1988-09-20 Unimation, Inc. Multiaxis robot control having improved continuous path operation
JPS647207A (en) * 1987-06-30 1989-01-11 Fanuc Ltd Spline interpolating system
JPH079606B2 (ja) * 1988-09-19 1995-02-01 豊田工機株式会社 ロボット制御装置
JPH02256483A (ja) * 1989-03-29 1990-10-17 Kobe Steel Ltd 産業用ロボットの速度制御装置

Also Published As

Publication number Publication date
EP0507980A1 (en) 1992-10-14
CA2040459C (en) 1997-01-21
CA2040459A1 (en) 1992-10-16
US5293460A (en) 1994-03-08
KR940010617B1 (ko) 1994-10-24
EP0507980B1 (en) 1997-07-23

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