KR960705267A - 예비산출용 이동제어 장치 및 방법(motion control with precomputation) - Google Patents

예비산출용 이동제어 장치 및 방법(motion control with precomputation) Download PDF

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KR960705267A
KR960705267A KR1019960701825A KR19960701825A KR960705267A KR 960705267 A KR960705267 A KR 960705267A KR 1019960701825 A KR1019960701825 A KR 1019960701825A KR 19960701825 A KR19960701825 A KR 19960701825A KR 960705267 A KR960705267 A KR 960705267A
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motor
command
trajectory
speed
commands
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존 에이치 올센
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조 에이치. 올슨
오맥스 코퍼레이션
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Abstract

본 발명은 기기공구와 산업로버트를 제어하는 장치에 관한 것이다.
절단해야할 명세 또는 기기공구 또는 산업로버트에 의해 추종되는 통로로부터 예상된 저항력의 예상을 토대로 각각의 측에대해 통로를 따르는 각각의 중분단에 대해 위치명령(69). 연속명령간에 시간지연 및 힘명령(68)을 산출한다.
이 산출은 속도, 가속도, 및 저크를 정확히 제어하기 위해 특정된다. 발새오딘 데이터가 메모리 드라이브에 기억되고 기기 공구 및 로버트에 연속 향한다.

Description

예비산출용 이동제어 장치 및 방법(MOTION CONTROL WITH PRECOMPUTATION)
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제2도는 본 발명이 하드웨어 소자의 도면,
제3도는 본 발명에 이공되는 구동회로의 소자의 도면,
제4도는 입력직선 세그먼트를 중분명령점으로 변환시키는 방법을 도시한 도면,
제5도는 입력아크 세그먼트를 중분명령점으로 변환시키는 방법을 도시한 도면.

Claims (17)

  1. 모우터의 구동회로에 의해 하나 이상의 모우터에 의해 구동되는 물체의 바람직한 궤적을 성취하고, 궤적의 각각의 부분과 관련된 바람직한 값을 제공하고, 이 궤적은 개시점에서 제로(0)속도로 시작해서 종점에서 제로속도로 끝나는 방법에 있어서, (a) 바람직한 궤적을 모우터에 대한 일련의 중분 모우터 명령으로 측정하는 단계와, 이 모우터의 각각의 중분은 제로, 양의 중분 또는 음의 중분중 하나이고; (b) 각각의 모우터 명령에 대해 모우터 명령에 의해 특정된 궤적읠 부분에 대한 관련값을 측정하는 단계와; (c) 모우터 명령과 이에 관련된 값을 메모리에 기억시키는 단계와; (d) 모우터 구동 회로에 각각의 모우터명령을 전송하고 특정 관련값을 제공하는 단계를 구비하는 방법.
  2. 제1항에 있어서, 관련된 값은 모우터 명령에 의해 특정된 궤적부분의 바람직한 속도를 나타내는 방법.
  3. 제2항에 있어서, (a) 일련의 모우터 명령이 모우터 구동회로에 전송됨에 따라, 각각의 쌍의 연속 모우터 명령의 전송 사이에 지연을 야기하고, 지연량은 두 개의 모우터 명령중 하나의 연관된 값으로부터 얻어져서 모우터 명령과 지연의 결합에 의해 모우터가 물체로 하여금 바람직한 속도를 성취하게하는 방법.
  4. 제3항에 있어서, 관련된 값은 관련된 모우터 명령과 인접 모우터명령의 전송간의 바람직한 시간 지연을 나타내는 방법.
  5. 제4항에 있어서, 각각의 시간 지연값은 바람직한 지연을 성취하기 위해 대기에 대한 다수의 타이머티크로 특정되는 방법.
  6. 제1항에 있어서, 이 값은 정보고 제조공정의 요소의 제어를 특정하는 또다른 소오스로부터의 정보가 판독되어야하는 플래그를 나타내는 방법.
  7. 제1항에 있어서, 물체가 사출장치이고 값이 사출장치의 입력을 특정하는 방법.
  8. 제1항에 있어서, 물체는 동조하는 공구헤드이고 이 값은 동조의 속도를 특정하는 방법.
  9. 모우터의 구동회로에의해 하나 이상의 모우터에의해 구동되는 물체의 궤적의 가속도가 제로를 제어하고 이 궤적은 개시점에서 제로 속도에서 시작되고 종점에서는 제로속도로 끝나는 방법에 있어서, (a) 궤적을 일련의 하나 이상의 새그먼트로 특정하는 단계와; (b) 각각의 새그먼트에 대하여 가속도 또는 제로에 대한 제한으로 간주하는 관련속도 명세를 산출하는 단계와; (c) 메모리에 전체궤적과 관련속도 명세에 대한 특정 새그먼트를 기억시키는 단계와; (d) 메모리로부터 특정 새그먼트와 관련 속도를 회수하는 단계와; (e) 특정 속도로 각각의 새그먼트에 의해 특정의 운동을 하도록 구동회로에 명령하는 단계를 구비한 방법.
  10. 모우터에 대한 구동회로에 의해하나 이상의 모우터에 의해 구동되는 물체의 궤적의 명령위치가 실제 위치가의 궤적을 제어하고, 이 궤적은 개시점에서 제로속도에서 하여 종점에서 제로속도로 끝나는 방법에 있어서, (a) 일련의 하나 이상의 운동명령을 각각의 새그먼트의 속도 명령으로 궤적을 측정하는 단계와; (b) 각각의 새그먼트에대해 명령위치와 실제위치 사이의 관련된 래그를 산출하고 이 래그를 감소시키기 위해 속도 명령을 조절하는 단계와; (c) 메모리에서 특정된 이동 명령과 이에관련된 속도 명령을 기억시키는 단계와; (d) 메모리로부터 특정된 이동 명령과, 이에 관련된 속도 명령을 회수하는 단계와; (e) 구동회로에게 명령속도를 지닌 각각의 새그먼트에 의해 특정된 이동하게 하는 단계를 구비한 방법.
  11. 모우터에대한 구동회로로 하나 이상의 모우터에 의해 구동되는 물체의 운동을 제어하는 방법에 있어서, (a) 물체에 대해 바람직한 이동을하도록 일련의 명령을 특정하는 단계와; (b) 하나 이상의 이동명령을 실행할 때 받을 수 있는 물체의 운동을 하도록 일련의 이동 명령을 특정하는 단계와; (c) 일련의 이동 명령을 구동 회로에 제공하고 예상된 저항력을 토대로 하나 이상의 명령에 의해 힘명령을 구동회로에 연결한 힘명령 인터프리터에 제공하는 단계를 구비한 방법.
  12. 바람지한 특성을 성취하기 위해 바람직한 궤적에 대한 기기 공구의 작동에 대해 기기 이동제어 명령을 결정하는 방법에 있어서, (a) 바람직한 궤적을 일련의 하나 이상의 새그먼트 명령으로 설명하는 단계와; (b) 새그먼트 명령에 대해 이 새그먼트의 결과에 바람직한 특성을 나타내는 관련값을 특정하는 단계와; (c) 메모리에 새그먼트 명세가 관련 값을 기억시키는 단계와; (d) 속도를 조절하기 위해 기기공구에 제공된 이동제어 명령과 이 결과의 바람직한 특성을 성취하기 위해 가속도를 결정하고 관련 속도를 이용하는 단계를 구비한 방법.
  13. 제12항에 있어서, 기기공구는 사출절단 공구이고 바람직한 특성은 절단 표면의 균일성인 방법.
  14. 제13항에 있어서, 속도는 절단표면의 바람직한 균일성을 유지하도록 사출장치의 측대측 이동을 제한하는 방법.
  15. 제13항에 있어서, 사출장치가 절단된표면의 바람직한 균일성을 성취하기 위해 곡선 또는 모퉁이를 횡단할 때 래그에러를 제한하게 조절되는 방법.
  16. 제13항에 있어서, 가속도는 전단표면의 바람직한 균일성을 유지하도록 제안되는 방법.
  17. 기기 공구의 이동을 제어하는 장치에 있어서, (a) 출력코드를 가진 컴퓨터와; (b) 컴퓨터의 출력코드에 연결된 입력코드와 전류 출력코드를 지닌 힘명령 인터프리터와; (c) 전류출력코드에 연결된 기기공구에 운동을 작동시키는 모우터를 구비한 장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019960701825A 1993-10-07 1994-09-30 예비산출용 이동제어 장치 및 방법(motion control with precomputation) KR960705267A (ko)

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US5892345A (en) 1999-04-06
EP0722580A4 (en) 1998-05-13
US5508596A (en) 1996-04-16
WO1995010076A1 (en) 1995-04-13
CA2173241C (en) 1999-08-10
JPH09503604A (ja) 1997-04-08
CA2173241A1 (en) 1995-04-13
EP0722580A1 (en) 1996-07-24
TW274655B (ko) 1996-04-21

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