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1. 发明授权

US09597800B2 Elastic deformation compensation control device for articulated robot 有权
公开(公告)号：US09597800B2
公开(公告)日：2017-03-21
申请号：US14766007
申请日：2014-02-14
申请人： Kobe Steel, Ltd.
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/00 , B25J9/16 , B23K9/095 , B23K9/12 , B23K9/173 , B23K9/32 , B23K37/02 , B25J9/06
CPC分类号： B25J9/1638 , B23K9/095 , B23K9/124 , B23K9/173 , B23K9/32 , B23K37/0229 , B25J9/06 , B25J9/1605 , B25J9/1633 , B25J9/1641 , G05B2219/34119 , G05B2219/39186 , G05B2219/41222 , G05B2219/41225 , G05B2219/41426 , G05B2219/41436 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

2. 发明申请

US20170277150A1 MOTOR CONTROLLER HAVING FUNCTION OF REDUCING VIBRATION 审中-公开
公开(公告)号：US20170277150A1
公开(公告)日：2017-09-28
申请号：US15458088
申请日：2017-03-14
申请人： FANUC CORPORATION
发明人： Tsutomu Nakamura , Satoshi Ikai
IPC分类号： G05B19/048
CPC分类号： G05B19/048 , G05B19/404 , G05B2219/39199 , G05B2219/41121 , G05B2219/41144 , G05B2219/41187 , G05B2219/41222 , G05B2219/41232
摘要： A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω0 determined in the inverse characteristic filter.

3. 发明申请

US20160077505A1 Device and Method for Moving an Object 审中-公开
标题翻译：移动对象的设备和方法
公开(公告)号：US20160077505A1
公开(公告)日：2016-03-17
申请号：US14848470
申请日：2015-09-09
申请人： Robert Bosch GmbH
发明人： Walrick Dirkx
IPC分类号： G05B17/02
CPC分类号： G05B17/02 , G05B19/19 , G05B2219/34005 , G05B2219/41222 , G05B2219/41233
摘要： A device and method for the generation of a constraint-based, preferably time-optimal motion profile is presented.The device 100 comprises a control unit 102, said control unit 102 is configured to control a mechanical system 104, whereas an alike comprised set-point generator 101 delivers set points for the control unit 102. A moving average filter 111 is coupled to said generator 101. By application of the moving average filter 111 a piecewise constant set point profile changes into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism.
摘要翻译：提出了用于生成基于约束的优选时间最优运动曲线的装置和方法。设备100包括控制单元102，所述控制单元102被配置为控制机械系统104，而相似的包括设定点发生器101传送控制单元102的设定点。移动平均滤波器111耦合到所述发生器通过应用移动平均滤波器111，分段常数设定点轮廓变成分段线性轮廓。如本公开所述，这具有若干正面效果，而通过机构驱动移动物体。

4. 发明申请

US20170229991A1 METHOD FOR CONTROLLING THE MOVEMENT OF A DRIVE AXIS OF A DRIVE UNIT 有权
公开(公告)号：US20170229991A1
公开(公告)日：2017-08-10
申请号：US15424027
申请日：2017-02-03
申请人： BERNECKER + RAINER INDUSTRIE-ELEKTRONIK Ges.m.b.H.
发明人： Stefan HUBER , Helmut HERZOG
IPC分类号： H02P25/06 , B65G43/00
CPC分类号： H02P25/06 , B65G43/00 , B65G2203/047 , G05B7/02 , G05B19/416 , G05B2219/41217 , G05B2219/41222
摘要： To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter (10) is initialized with a setpoint profile (Sinit) so that a current movement phase ((S0, {dot over (S)}0, . . . , S0(x))) is continued continuously and the repeated time derivative (S(x+1)) of the highest time derivative (S(x)) of the setpoint (S(t), S(k)) is limited.

5. 发明申请

US20130200835A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130200835A1
公开(公告)日：2013-08-08
申请号：US13824652
申请日：2011-10-07
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
IPC分类号： H02P29/00
CPC分类号： H02P29/0038 , G05B19/404 , G05B2219/41166 , G05B2219/41222 , H02P29/50 , Y02P90/265
摘要： To improve estimation accuracy of a frequency and an attenuation coefficient of residual vibration in which a plurality of frequencies are superimposed, a motor control device includes a vibration-damping-control setting unit 7 configured to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit 51 configured to output, based on an operation signal Xm related to a controlled object 1, a signal for estimation Xs in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit 41 configured to estimate one resonance frequency from the output signal for estimation Xs. The vibration-damping-control setting unit 7 designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit 2, each of resonance frequencies estimated by the resonance-characteristic estimating unit 41 related to the individually designated each one candidate frequency.
摘要翻译：为了提高叠加多个频率的频率的估计精度和残余振动的衰减系数，电动机控制装置包括：减振控制设定单元7，被配置为指定振动的多个候选频率中的一个振动被配置为基于与受控对象1相关的操作信号Xm输出估计信号Xs的信号估计计算单元51，其中除指定的一个候选频率之外的其它候选频率的信号分量从控制系统的振动分量减少，以及谐振特性估计单元41，被配置为从用于估计Xs的输出信号估计一个谐振频率。减振控制设定部7将各候选频率分别指定为一个候补频率，并且在前馈控制部2中设定由共振特性推定部41估计出的与各个指定的各个相关的共振频率候选频率。

6. 发明授权

US07340336B2 Plant control system 有权
标题翻译：工厂控制系统
公开(公告)号：US07340336B2
公开(公告)日：2008-03-04
申请号：US10864552
申请日：2004-06-10
申请人： Yuji Yasui , Kanako Shimojo
发明人： Yuji Yasui , Kanako Shimojo
IPC分类号： G06F17/00
CPC分类号： G05B13/04 , F16D48/06 , F16D2500/10412 , F16D2500/1045 , F16D2500/3026 , F16D2500/70442 , F16H61/32 , F16H2061/0071 , G05B2219/41145 , G05B2219/41222
摘要： A plant control system using response specifying control that makes it possible to independently set a follow-up behavior for an output value of a plant when a target output value of the plant changes and a convergent behavior for a difference between a target output value and an output value when the output value of the plant changes. The control system has a controller for determining a clutch stroke on the basis of a model equation of a clutch device such that a target rotational speed and an actual rotational speed of the clutch device coincide with each other. The controller includes a target value filter for carrying out filtering computation on a target rotational speed to calculate a filtering target value that converges to the target rotational speed with a response delay, and a response specifying control unit that determines the clutch stroke by response specifying control such that the filtering target value and the clutch rotational speed coincide with each other.
摘要翻译：一种使用响应指定控制的工厂控制系统，其可以在工厂的目标输出值改变时独立地设置工厂的输出值的跟踪行为以及目标输出值和目标输出值之间的差的收敛行为当工厂的输出值发生变化时的输出值。控制系统具有控制器，用于基于离合器装置的模型方程确定离合器行程，使得离合器装置的目标转速和实际转速相互一致。该控制器包括目标值滤波器，用于对目标转速执行滤波计算，以计算以响应延迟收敛到目标转速的滤波目标值;以及响应指定控制单元，其通过响应指定控制来确定离合器行程使得过滤目标值和离合器转速彼此一致。

7. 发明授权

US09882520B2 Method for controlling the movement of a drive axis of a drive unit 有权
公开(公告)号：US09882520B2
公开(公告)日：2018-01-30
申请号：US15424027
申请日：2017-02-03
申请人： B&R INDUSTRIAL AUTOMATION GMBH
发明人： Stefan Huber , Helmut Herzog
IPC分类号： H02K41/00 , H02P25/06 , B65G43/00
CPC分类号： H02P25/06 , B65G43/00 , B65G2203/047 , G05B7/02 , G05B19/416 , G05B2219/41217 , G05B2219/41222
摘要： To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter (10) is initialized with a setpoint profile (Sinit) so that a current movement phase ((S0, {dot over (S)}0, . . . , S0(x))) is continued continuously and the repeated time derivative (S(x+1)) of the highest time derivative (S(x)) of the setpoint (S(t), S(k)) is limited.

8. 发明申请

US20150367511A1 ELASTIC DEFORMATION COMPENSATION CONTROL DEVICE FOR ARTICULATED ROBOT 有权
标题翻译：用于机器人的弹性变形补偿控制装置
公开(公告)号：US20150367511A1
公开(公告)日：2015-12-24
申请号：US14766007
申请日：2014-02-14
申请人： KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
发明人： Yoshiharu NISHIDA , Takashi WADA , Yoshihide INOUE , Shuichi INADA
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/1638 , B23K9/095 , B23K9/124 , B23K9/173 , B23K9/32 , B23K37/0229 , B25J9/06 , B25J9/1605 , B25J9/1633 , B25J9/1641 , G05B2219/34119 , G05B2219/39186 , G05B2219/41222 , G05B2219/41225 , G05B2219/41426 , G05B2219/41436 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.
摘要翻译：用于补偿关节式机器人的弹性变形的该控制装置（10）由关节角度指令值计算部（100），轴力扭矩计算部（200），第一动力特性运算部（300），反馈控制单元（500）和马达角度指令值计算单元（600）。第一动态特性计算单元（300）由从N元曲线插值构成的内插单元和由N + M至少为4的M元滤波器构成的滤波器单元构成。

9. 发明授权

US08872462B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US08872462B2
公开(公告)日：2014-10-28
申请号：US13824652
申请日：2011-10-07
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
IPC分类号： H02P1/00 , H02P5/00
CPC分类号： H02P29/0038 , G05B19/404 , G05B2219/41166 , G05B2219/41222 , H02P29/50 , Y02P90/265
摘要： A motor control device includes a vibration-damping-control setting unit to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit to output, based on an operation signal related to a controlled object, a signal for estimation in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit to estimate one resonance frequency from the output signal for estimation. The vibration-damping-control setting unit designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit, each of resonance frequencies estimated by the resonance-characteristic estimating unit related to the individually designated each one candidate frequency.
摘要翻译：电动机控制装置包括：减振控制设定单元，其基于与受控对象相关的操作信号，指定减振频率的多个候选频率中的一个，估计运算单元，输出，用于估计的信号，其中除了指定的一个候选频率之外的其他候选频率的信号分量从控制系统的振动分量中减去，以及谐振特性估计单元，用于从用于估计的输出信号估计一个谐振频率。减振控制设定单元将各个候选频率分别指定为一个候选频率，并且在前馈控制单元中设定由与各个候选频率相关的谐振特性估计单元所估计的每个谐振频率。

10. 发明申请

US20060015217A1 Optimal instruction creation device 审中-公开
标题翻译：最佳指令创建设备
公开(公告)号：US20060015217A1
公开(公告)日：2006-01-19
申请号：US10530751
申请日：2003-06-05
申请人： Jun Hagihara , Hiroshi Nakamura
发明人： Jun Hagihara , Hiroshi Nakamura
IPC分类号： G05B19/04
CPC分类号： G05B19/404 , G05B5/01 , G05B13/021 , G05B13/042 , G05B2219/41222 , G05B2219/41232
摘要： The invention relates to a apparatus for producing an optimum command to process a command to be input to a servo control section in order to operate a control object having a vibrating element without a vibration in such a manner that a delay from a command is reduced as greatly as possible. An optimum command producing apparatus for inputting a command, processing the command in such a manner that a control object implements a desirable operation and outputting an optimum command value to a servo control apparatus, includes an N-order filter processing section (1) for carrying out an N-order filter processing for the command and calculating values from a 1-rank differential to an (N-1)-rank differential of the command subjected to the filter processing, and an arithmetic unit (2) for adding a value obtained by multiplying an output of the N-order filter processing section (1) by a gain.
摘要翻译：本发明涉及一种用于产生用于处理要输入到伺服控制部分的命令的最佳命令的装置，以便以没有振动的方式操作具有振动元件的控制对象，使得来自命令的延迟减少为如尽可能大大地一种用于输入命令的最佳命令产生装置，以控制对象实现所需操作并向伺服控制装置输出最佳命令值的方式处理命令，包括：N级滤波处理部分，用于承载输出用于命令的N阶滤波处理，以及从经过滤波处理的命令的1级差到（N-1） - 差分的值的计算值;以及用于将获得的值相加的算术单元（2）通过将N阶滤波处理部（1）的输出乘以增益。

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