WO1998025190A1 - Verfahren zum regeln der bewegungen mindestens eines antriebselements eines industrieroboters - Google Patents
Verfahren zum regeln der bewegungen mindestens eines antriebselements eines industrieroboters Download PDFInfo
- Publication number
- WO1998025190A1 WO1998025190A1 PCT/EP1997/006726 EP9706726W WO9825190A1 WO 1998025190 A1 WO1998025190 A1 WO 1998025190A1 EP 9706726 W EP9706726 W EP 9706726W WO 9825190 A1 WO9825190 A1 WO 9825190A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive element
- arithmetic
- calculations
- cycle
- arithmetic operation
- Prior art date
Links
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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
Definitions
- the invention relates to a method for regulating the movements of at least one drive element of an industrial robot according to the preamble of claim 1.
- Digitized robot controls are therefore safer, but have their limits with high accuracy and high speed.
- multiprocessor networks are also known instead of a digitized computer to use. Although this increases the computing capacity, it also disproportionately increases the proportion of capacity required to coordinate the processors with one another.
- the object is to design the method in such a way that the movements of the drive element can be carried out quickly and precisely.
- Figure 5 shows the resulting motion sequence using the control loop.
- Fig. 6 shows the sequence of movements in the absence of a path.
- a series of arithmetic operations task 1 to task n are required to control the movement of a drive element.
- the arithmetic operations task 1 to task n are carried out in succession, that is to say the arithmetic operation task 2 begins after the result of the arithmetic operation task 1 is present.
- it takes a relatively long time until the actuating variable is acted upon by the drive element after the task n has been completed.
- FIG. 2 at the beginning of task 1, which is carried out over the period t 1, a faster computing operation is carried out in parallel, which lasts (t 1).
- the subtotals and the result Oj ' determine the start of the next arithmetic operation task 2.
- the faster arithmetic operation calculates the result Oi' approximately.
- the subtotals and result 0 'of which determine the start of the further arithmetic operation task 3.
- the result 0 2 ' is also approximate.
- the result of the last arithmetic operation task n which determines the manipulated variable, is thus achieved much more quickly than in the procedure according to FIG , so that at the end of arithmetic operation task 2 an exact value is obtained, which also applies to the subsequent arithmetic operations.
- Block 1 represents a controlled system consisting of a drive element.
- a sensor 2 detects an actual value 3 of the position of the drive element, which is compared at a comparison location 4 with a target value ⁇ , the difference giving the control deviation Is.
- the arithmetic operations of blocks 9, 10 are each determined by the total value I 2 .
- the arithmetic operation in block 9 is again approximate to the setpoint position, while the arithmetic operation in block 10 calculates the exact setpoint position.
- the arithmetic operation in block 9 is carried out within one arithmetic cycle (t 2) and leads to the approximate sum 0 2 ⁇ .
- the final sum Oi is entered into the summer 8 and replaces the sum Oi '.
- the partially completed arithmetic operation according to block 10 is continued with the exact value I 2 and the exact final sum is entered into the summer 11 to generate the manipulated variable 12. Since the arithmetic operation in block 10 begins after that in block 6 has ended, as can be seen from FIG. 2, the exact manipulated variable 12 is obtained within very short cycle times. The times t 1 and t 2, which are required for performing the arithmetic operations in blocks 7 and 10, therefore overlap.
- a signal Pfj_ ' is fed from block 7 to block 6.
- Block 10 supplies a signal Pf 2 'to block 9.
- the signals Is and Pfi ' determine the approximate arithmetic operation of the block 6. The same applies to the signals I 2 and Pf 2 ' with respect to the block 9.
- the summer 8 can control a first drive element and the summer 11 can control a second drive element.
- the structure according to FIG. 4 corresponds to that according to FIG. 3, but comprises two further arithmetic operations corresponding to blocks 13 and 14, of which that of block 13 is approximate and block 14 carries out an exact calculation.
- FIG. 5 shows a resulting trajectory, the straight sections resulting from the approximate calculation. If a path specification is missing at the end of a computing cycle as a result of an error, the drive element concerned is braked to a standstill, which is illustrated in FIG. 6 by lines 16.
- the approximate arithmetic operation can be carried out with the aid of the gradient, slope, iteration or Newtonian approximation method. A calculation according to Horner is also possible.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97952846A EP0882256A1 (de) | 1996-12-07 | 1997-12-01 | Verfahren zum regeln der bewegungen mindestens eines antriebselements eines industrieroboters |
JP10525186A JP2000510981A (ja) | 1996-12-07 | 1997-12-01 | 工業用ロボットにおける少なくとも1つの駆動要素の動作を制御する方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1996150878 DE19650878C1 (de) | 1996-12-07 | 1996-12-07 | Verfahren zum Regeln der Bewegungen mindestens eines Antriebselements eines Industrieroboters |
DE19650878.9 | 1996-12-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998025190A1 true WO1998025190A1 (de) | 1998-06-11 |
Family
ID=7813975
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1997/006726 WO1998025190A1 (de) | 1996-12-07 | 1997-12-01 | Verfahren zum regeln der bewegungen mindestens eines antriebselements eines industrieroboters |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0882256A1 (de) |
JP (1) | JP2000510981A (de) |
DE (1) | DE19650878C1 (de) |
WO (1) | WO1998025190A1 (de) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3720814A (en) * | 1970-09-18 | 1973-03-13 | Warner Swasey Co | Direct numerical control system |
EP0120198A1 (de) * | 1983-02-26 | 1984-10-03 | Gesellschaft für digitale Automation mbH | Verfahren zum Betreiben eines Industrieroboters in roboterkinematikfremden Koordinaten |
EP0184075B1 (de) * | 1984-12-04 | 1988-09-07 | Siemens Aktiengesellschaft | Einrichtung und Verfahren zum Regeln eines Industrieroboters |
EP0142712B1 (de) * | 1983-10-17 | 1989-03-29 | Hitachi, Ltd. | Steuerungssystem für mehrfachen Gelenkarmmechanismus |
EP0270059B1 (de) * | 1986-12-01 | 1994-03-30 | AG für industrielle Elektronik AGIE Losone bei Locarno | Numerisches Steuersystem für hochdynamische Prozesse |
US5394323A (en) * | 1994-03-29 | 1995-02-28 | The University Of British Columbia | Path error control system |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3506877A1 (de) * | 1985-02-27 | 1986-08-28 | Schott Glaswerke, 6500 Mainz | Verfahren zum eckenstossen von planen, rechteckigen scheiben |
DE3522581A1 (de) * | 1985-06-24 | 1987-01-02 | Eke Robotersysteme Gmbh | Verfahren und vorrichtung zum betreiben eines industrieroboters mit sensorkorrektur |
DE3614122A1 (de) * | 1986-04-25 | 1987-11-05 | Forsch Steuerungstechnik Der W | Verfahren und vorrichtung zur positionskorrektur von industrieroboterarmen |
-
1996
- 1996-12-07 DE DE1996150878 patent/DE19650878C1/de not_active Expired - Fee Related
-
1997
- 1997-12-01 EP EP97952846A patent/EP0882256A1/de not_active Withdrawn
- 1997-12-01 WO PCT/EP1997/006726 patent/WO1998025190A1/de not_active Application Discontinuation
- 1997-12-01 JP JP10525186A patent/JP2000510981A/ja active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3720814A (en) * | 1970-09-18 | 1973-03-13 | Warner Swasey Co | Direct numerical control system |
EP0120198A1 (de) * | 1983-02-26 | 1984-10-03 | Gesellschaft für digitale Automation mbH | Verfahren zum Betreiben eines Industrieroboters in roboterkinematikfremden Koordinaten |
EP0142712B1 (de) * | 1983-10-17 | 1989-03-29 | Hitachi, Ltd. | Steuerungssystem für mehrfachen Gelenkarmmechanismus |
EP0184075B1 (de) * | 1984-12-04 | 1988-09-07 | Siemens Aktiengesellschaft | Einrichtung und Verfahren zum Regeln eines Industrieroboters |
EP0270059B1 (de) * | 1986-12-01 | 1994-03-30 | AG für industrielle Elektronik AGIE Losone bei Locarno | Numerisches Steuersystem für hochdynamische Prozesse |
US5394323A (en) * | 1994-03-29 | 1995-02-28 | The University Of British Columbia | Path error control system |
Also Published As
Publication number | Publication date |
---|---|
EP0882256A1 (de) | 1998-12-09 |
DE19650878C1 (de) | 1998-07-30 |
JP2000510981A (ja) | 2000-08-22 |
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