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1. 发明授权

US09321177B2 Reducer abnormality determination method, abnormality determination device, and robot system 有权
标题翻译：减速器异常判定方法，异常判定装置，机器人系统
公开(公告)号：US09321177B2
公开(公告)日：2016-04-26
申请号：US13233472
申请日：2011-09-15
申请人： Koichiro Ikeda , Mitsuaki Nakanishi
发明人： Koichiro Ikeda , Mitsuaki Nakanishi
IPC分类号： G05B15/00 , B25J9/16 , G05B19/4065
CPC分类号： B25J9/1674 , G05B19/4065 , G05B2219/37252 , G05B2219/37434 , G05B2219/37525 , G05B2219/39194 , G05B2219/39261 , G05B2219/41121 , G05B2219/41152
摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.
摘要翻译：本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

2. 发明授权

US08098038B2 Servomotor control system enabling high-speed oscillating motion to be highly precise 有权
标题翻译：伺服电机控制系统使高速摆动能够高精度
公开(公告)号：US08098038B2
公开(公告)日：2012-01-17
申请号：US12878389
申请日：2010-09-09
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B11/01
CPC分类号： G05B19/19 , G05B2219/41152 , G05B2219/42152
摘要： A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle θ(=ωt), and also calculates a cyclic oscillation command F(t) according to the reference angle θ and a machining condition (angular velocity ω). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ε) at intervals of a predetermined cycle, and performs learning control according to the reference angle θ, oscillation command F(t), and positional difference ε.
摘要翻译：包括数字控制单元和伺服控制单元的伺服电动机控制系统能够通过例如夹具研磨机进行的高速摆动运动中使用基于角度同步方法的学习控制。数值控制单元计算参考角度（=ωt），并根据参考角度计算循环振荡指令F（t）; 和加工条件（角速度ω）。伺服控制部以预定周期的间隔计算振荡指令F（t）的值与伺服电动机的位置（位置差egr）之间的差，并根据参考角度θ进行学习控制;振荡指令F（t）和位置差异。

3. 发明申请

US20180241376A1 FILTER SWITCHING METHOD FOR A MACHINE CONTROL SYSTEM 审中-公开
公开(公告)号：US20180241376A1
公开(公告)日：2018-08-23
申请号：US15751774
申请日：2016-08-09
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： Klaus Geissdörfer , CARSTEN HAMM , THEO REICHEL , ELMAR SCHÄFERS , TORSTEN SCHÜR
IPC分类号： H03H17/02 , G05B19/416
CPC分类号： H03H17/0294 , G05B19/18 , G05B19/416 , G05B2219/41151 , G05B2219/41152 , G05B2219/41231 , H03H17/026 , H03H2017/0295
摘要： The invention relates to a method (100) for switching between desired value filters (26, 28) of a drive means (52) for a machine axis (10, 12) during operation. An input signal (20) is applied to the first and to the second desired value filter (26, 28) for producing a first and a second output signal (23, 33). Then any deviation between the first and the second output signal (23, 33) is determined. If the deviation falls below a threshold value, the first desired value filter (26) is separated from the drive means (52) and substantially simultaneously the second desired value filter (28) is connected to the drive means (52). The desired value filters (26, 28) have different running times (19).

4. 发明授权

US5548192A Adaptive feedback system for controlling head/arm position in a disk drive 失效
标题翻译：用于控制磁盘驱动器中的磁头/臂位置的自适应反馈系统
公开(公告)号：US5548192A
公开(公告)日：1996-08-20
申请号：US490478
申请日：1995-06-14
申请人： D. Mitchel Hanks
发明人： D. Mitchel Hanks
IPC分类号： G05B13/02 , G05B19/19 , G05D3/12 , G05B19/00
CPC分类号： G05B13/027 , G05B19/19 , G05B2219/33036 , G05B2219/33046 , G05B2219/41151 , G05B2219/41152
摘要： A method for adjusting a compensator in a feedback control system for a coupled plant, derives a plurality of forward error values from position error signals that are sensed as outputs from the plant in response to a disturbance of the plant's operation. The position error signals are determined over plural, increasingly forward, time segments. A plurality of compensator output values are also determined over predetermined plural increasing forward, time segments. The derived forward error values are applied as inputs to the plant in a back propagation order, that order being in reverse time order to the time order in which the forward position error values were derived. Plural back propagation error values result in response to the back propagation application of the forward position error values. The back propagation error values are derived from within a portion of the compensator which has been configured as a Direct Form II filter function. The plural back propagation error values are then utilized in conjunction with the compensator output values and the forward position error values to derive altered compensator gain stage values to enable a reduction of the forward error values. To provide increased correction capability, the forward position error signals are altered by weighting functions before being employed as inputs to achieve the back propagation error values.
摘要翻译：一种用于调整用于耦合设备的反馈控制系统中的补偿器的方法，从响应于设备操作干扰的来自工厂的位置误差信号导出多个前向误差值。位置误差信号在多个，日益前进的时间段上确定。还在预定的多个增加的前进时间段中确定多个补偿器输出值。导出的前向误差值以反向传播顺序作为输入施加到工厂，该顺序是与向前位置误差值的时间顺序相反的时间顺序。多个反向传播误差值导致响应于前向位置误差值的反向传播应用。反向传播误差值是从已经被配置为直接形式II滤波器功能的补偿器的一部分内导出的。然后，多个反向传播误差值与补偿器输出值和前向位置误差值结合使用以导出改变的补偿器增益级值，以便能够减少前向误差值。为了提供增加的校正能力，在被用作输入以实现反向传播误差值之前，通过加权函数来改变前向位置误差信号。

5. 发明申请

US20180120808A1 TOOL-PATH GENERATING DEVICE, TOOL-PATH GENERATING METHOD, AND NON-TRANSITORY RECORDING MEDIUM STORING TOOL-PATH GENERATING PROGRAM 审中-公开
公开(公告)号：US20180120808A1
公开(公告)日：2018-05-03
申请号：US15788916
申请日：2017-10-20
申请人： FANUC CORPORATION
发明人： Hiroki MURAKAMI , Souichirou IDE , Osamu HANAOKA
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , G05B19/4103 , G05B2219/34042 , G05B2219/39573 , G05B2219/41152
摘要： Provided is a tool-path generating device that includes a point-sequence generating unit that generates a point sequence that represents a tool path on the basis of a machining program, and a smoothing unit that smooths the generated point sequence. The smoothing unit includes a filter-length setting unit that sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, a filter-length changing unit that changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and a filter processing unit that performs filter processing on the basis of the changed filter lengths.

6. 发明申请

US20160147201A1 METHODS AND SYSTEMS FOR NONLINEAR ADAPTIVE CONTROL AND FILTERING 审中-公开
标题翻译：用于非线性自适应控制和滤波的方法和系统
公开(公告)号：US20160147201A1
公开(公告)日：2016-05-26
申请号：US14937191
申请日：2015-11-10
申请人： Applied Brain Research Inc.
发明人： Travis Crncich-DeWolf , Terrence Charles Stewart , Jean-Jacques Emile Slotine , Christopher David Eliasmith
IPC分类号： G05B13/02
CPC分类号： G05B13/0265 , G05B2219/41152 , G06N3/049 , G06N3/063 , G06N3/08
摘要： Methods, systems and methods for designing a system that provides adaptive control and adaptive predictive filtering using nonlinear components. A system design is described that provides an engineered architecture. This architecture defines a core set of network dynamics that carry out specific functions related to control or prediction. The adaptation systems and methods can be applied to limited areas of he system to allow the system to learn to compensate for unmodeled system dynamics and kinematics. Two types of adaptive modules are described which are configured to account for the unmodeled system dynamics and kinematics.
摘要翻译：用于设计提供自适应控制和使用非线性分量的自适应预测滤波的系统的方法，系统和方法。描述了一种提供工程架构的系统设计。该架构定义了一组核心的网络动力学，其执行与控制或预测有关的特定功能。适应系统和方法可以应用于系统的有限区域，以允许系统学习补偿未建模的系统动力学和运动学。描述了两种类型的自适应模块，其被配置为考虑未建模的系统动力学和运动学。

7. 发明申请

US20120065781A1 REDUCER ABNORMALITY DETERMINATION METHOD, ABNORMALITY DETERMINATION DEVICE, AND ROBOT SYSTEM 有权
标题翻译：减速器异常确定方法，异常判定装置和机器人系统
公开(公告)号：US20120065781A1
公开(公告)日：2012-03-15
申请号：US13233472
申请日：2011-09-15
申请人： Koichiro IKEDA , Mitsuaki Nakanishi
发明人： Koichiro IKEDA , Mitsuaki Nakanishi
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , G05B19/4065 , G05B2219/37252 , G05B2219/37434 , G05B2219/37525 , G05B2219/39194 , G05B2219/39261 , G05B2219/41121 , G05B2219/41152
摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.
摘要翻译：本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

8. 发明申请

US20110133681A1 SERVOMOTOR CONTROL SYSTEM ENABLING HIGH-SPEED OSCILLATING MOTION TO BE HIGHLY PRECISE 有权
标题翻译：伺服电机控制系统使高速振荡运动达到高精度
公开(公告)号：US20110133681A1
公开(公告)日：2011-06-09
申请号：US12878389
申请日：2010-09-09
申请人： Tadashi OKITA , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi OKITA , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B13/02
CPC分类号： G05B19/19 , G05B2219/41152 , G05B2219/42152
摘要： A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle θ(=ωt), and also calculates a cyclic oscillation command F(t) according to the reference angle θ and a machining condition (angular velocity ω). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ε) at intervals of a predetermined cycle, and performs learning control according to the reference angle θ, oscillation command F(t), and positional difference ε.
摘要翻译：包括数字控制单元和伺服控制单元的伺服电动机控制系统能够通过例如夹具研磨机进行的高速摆动运动中使用基于角度同步方法的学习控制。数值控制单元计算参考角度（=ωt），并根据参考角度＆amp;计算循环振荡指令F（t）; 和加工条件（角速度ω）。伺服控制部以预定周期的间隔计算振荡指令F（t）的值与伺服电动机的位置（位置差egr）之间的差，并根据参考角度θ进行学习控制;振荡指令F（t）和位置差异。

9. 发明授权

US07047097B2 High performance controller for shifting resonance in micro-electro-mechanical systems (MEMS) devices 有权
公开(公告)号：US07047097B2
公开(公告)日：2006-05-16
申请号：US10314746
申请日：2002-12-09
申请人： Mark W. Heaton
发明人： Mark W. Heaton
IPC分类号： G06F19/00
CPC分类号： G05B19/404 , G05B2219/41133 , G05B2219/41152
摘要： Devices being controlled electronically via physical manipulation often display a resonance. In many circumstances, the frequency range of operation is not close to the resonance frequency. In these cases, the resonance can be removed through the use of simple compensation techniques such as filters. However, when the resonance frequency is close to the frequency range of operation and when the resonance frequency can change depending on temperature, time, and physical position of the device, simple compensation techniques cannot be used. The present invention presents a non-mechanical technique for providing compensation for devices with a shifting resonance. The non-mechanical technique allows for the compensation to be performed via computation.

10. 发明申请

US20030123046A1 High performance controller for shifting resonance in micro-electro-mechanical systems (MEMS) devices 有权
标题翻译：用于在微电子机械系统（MEMS）器件中移动共振的高性能控制器
公开(公告)号：US20030123046A1
公开(公告)日：2003-07-03
申请号：US10314746
申请日：2002-12-09
发明人： Mark W. Heaton
IPC分类号： G01P003/36
CPC分类号： G05B19/404 , G05B2219/41133 , G05B2219/41152
摘要： Devices being controlled electronically via physical manipulation often display a resonance. In many circumstances, the frequency range of operation is not close to the resonance frequency. In these cases, the resonance can be removed through the use of simple compensation techniques such as filters. However, when the resonance frequency is close to the frequency range of operation and when the resonance frequency can change depending on temperature, time, and physical position of the device, simple compensation techniques cannot be used. The present invention presents a non-mechanical technique for providing compensation for devices with a shifting resonance. The non-mechanical technique allows for the compensation to be performed via computation.
摘要翻译：通过物理操作电子控制的设备通常会显示共振。在许多情况下，工作频率范围不接近谐振频率。在这些情况下，可以通过使用诸如滤波器之类的简单补偿技术来消除谐振。然而，当谐振频率接近操作的频率范围时，并且当谐振频率可以根据装置的温度，时间和物理位置而改变时，不能使用简单的补偿技术。本发明提供了一种非机械技术，用于为具有换档共振的装置提供补偿。非机械技术允许通过计算执行补偿。

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