DE3382051D1 - Beschleunigungs- und geschwindigkeitsverminderungsschaltung. - Google Patents
Beschleunigungs- und geschwindigkeitsverminderungsschaltung.Info
- Publication number
- DE3382051D1 DE3382051D1 DE8383903111T DE3382051T DE3382051D1 DE 3382051 D1 DE3382051 D1 DE 3382051D1 DE 8383903111 T DE8383903111 T DE 8383903111T DE 3382051 T DE3382051 T DE 3382051T DE 3382051 D1 DE3382051 D1 DE 3382051D1
- Authority
- DE
- Germany
- Prior art keywords
- acceleration
- speed reduction
- reduction circuit
- circuit
- speed
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
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
- G05B19/4103—Digital interpolation
-
- 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
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34167—Coarse fine, macro microinterpolation, preprocessor
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
- Automatic Control Of Machine Tools (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP57172863A JPS5962909A (ja) | 1982-10-01 | 1982-10-01 | 加減速装置 |
PCT/JP1983/000326 WO1984001444A1 (en) | 1982-10-01 | 1983-09-30 | Acceleration and deceleration circuit |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3382051D1 true DE3382051D1 (de) | 1991-01-17 |
Family
ID=15949688
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8383903111T Expired - Lifetime DE3382051D1 (de) | 1982-10-01 | 1983-09-30 | Beschleunigungs- und geschwindigkeitsverminderungsschaltung. |
Country Status (5)
Country | Link |
---|---|
US (1) | US4554497A (de) |
EP (1) | EP0120970B1 (de) |
JP (1) | JPS5962909A (de) |
DE (1) | DE3382051D1 (de) |
WO (1) | WO1984001444A1 (de) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59161252A (ja) * | 1983-03-04 | 1984-09-12 | Fanuc Ltd | 倣い制御装置 |
JPS6118009A (ja) * | 1984-07-04 | 1986-01-25 | Fanuc Ltd | 加減速制御方式 |
JPS61107403A (ja) * | 1984-10-31 | 1986-05-26 | Amada Co Ltd | 移動制御方法 |
JPH0642166B2 (ja) * | 1985-04-26 | 1994-06-01 | 株式会社サンエス商工 | サ−ボ制御方法 |
US4775945A (en) * | 1985-12-11 | 1988-10-04 | International Business Machines Corporation | Print head motor control system with automatic drive parameter calculations |
JPH0646367B2 (ja) * | 1986-09-29 | 1994-06-15 | 株式会社エスジ− | 位置決め制御における進み角補償方式 |
JPS63123605A (ja) * | 1986-11-12 | 1988-05-27 | Fanuc Ltd | タツピング加工制御装置 |
US4774445A (en) * | 1986-11-20 | 1988-09-27 | Unimation, Inc. | Multiaxis robot control having capability for executing timed moves |
JPH0711764B2 (ja) * | 1986-12-02 | 1995-02-08 | 東芝機械株式会社 | 加減速制御装置 |
JPS63167906A (ja) * | 1986-12-29 | 1988-07-12 | Hitachi Seiko Ltd | サ−ボ制御装置 |
JPS63273108A (ja) * | 1987-04-30 | 1988-11-10 | Fanuc Ltd | 速度制御装置 |
JPS63273107A (ja) * | 1987-04-30 | 1988-11-10 | Fanuc Ltd | ロボット制御装置 |
JPH0732979B2 (ja) * | 1987-06-17 | 1995-04-12 | ファナック株式会社 | 加減速制御装置 |
JP2707087B2 (ja) * | 1987-09-09 | 1998-01-28 | ファナック株式会社 | ロボット制御装置 |
JPH01113809A (ja) * | 1987-10-28 | 1989-05-02 | Hitachi Seiko Ltd | サーボ制御装置 |
JPH01164280A (ja) * | 1987-12-21 | 1989-06-28 | Fanuc Ltd | 加減速制御方式 |
JP2716446B2 (ja) * | 1988-02-02 | 1998-02-18 | 日立精工株式会社 | サーボ制御装置 |
JP2581585B2 (ja) * | 1988-03-18 | 1997-02-12 | 三菱電機株式会社 | 加減速制御装置 |
DE58902651D1 (de) * | 1988-05-03 | 1992-12-17 | Siemens Ag | Verfahren zum steuern der bewegung eines maschinenelementes. |
JP2808119B2 (ja) * | 1988-07-28 | 1998-10-08 | ファナック株式会社 | 加減速制御方式 |
KR900017735A (ko) * | 1989-05-19 | 1990-12-19 | 강진구 | 이송물의 직선 이송방법 |
EP0419706B1 (de) * | 1989-09-27 | 1995-01-25 | Siemens Aktiengesellschaft | Verfahren zur numerischen Positions- oder Bahnsteuerung |
JPH03281083A (ja) * | 1990-03-29 | 1991-12-11 | Fanuc Ltd | Cncレーザ加工機の姿勢制御方式 |
JP2897333B2 (ja) * | 1990-04-11 | 1999-05-31 | ブラザー工業株式会社 | サーボ制御装置 |
JPH0430203A (ja) * | 1990-05-25 | 1992-02-03 | Fanuc Ltd | ロボットの加減速時定数制御方法 |
WO1992009022A1 (en) * | 1990-11-08 | 1992-05-29 | Fanuc Ltd | Method for controlling servomotor feedforward |
KR940002206B1 (ko) * | 1991-01-26 | 1994-03-19 | 삼성전자 주식회사 | 컨벌루션(Convolution)을 이용한 로보트의 궤적발생방법 |
US5396160A (en) * | 1991-03-11 | 1995-03-07 | General Motors Corporation | Method of real-time machine path planning from a math model |
JP3083870B2 (ja) * | 1991-05-10 | 2000-09-04 | ファナック株式会社 | 数値制御装置 |
JPH06180606A (ja) * | 1992-12-11 | 1994-06-28 | Mitsubishi Electric Corp | 駆動対象物の制御装置 |
JP3046177B2 (ja) * | 1993-05-10 | 2000-05-29 | オークマ株式会社 | 加減速制御装置 |
US5434489A (en) * | 1993-07-30 | 1995-07-18 | Fanuc Robotics North America, Inc. | Method and system for path planning in cartesian space |
US5602968A (en) * | 1994-05-02 | 1997-02-11 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Task space angular velocity blending for real-time trajectory generation |
US5740327A (en) * | 1994-12-27 | 1998-04-14 | Nec Corporation | Method of and apparatus for robot tip trajectory control |
JP3000889B2 (ja) * | 1995-06-13 | 2000-01-17 | ダイキン工業株式会社 | ロボットの軌跡制御方法 |
JP3235535B2 (ja) * | 1997-09-26 | 2001-12-04 | 松下電器産業株式会社 | ロボット制御装置とその制御方法 |
JPH11149306A (ja) * | 1997-11-14 | 1999-06-02 | Fanuc Ltd | 加工機の制御装置 |
JP3673383B2 (ja) * | 1997-12-12 | 2005-07-20 | ファナック株式会社 | ロボットの制御装置 |
US5917301A (en) * | 1998-02-27 | 1999-06-29 | Samsung Aerospace Industries, Ltd. | Method for generating a motion profile of a motor |
CN103365235A (zh) * | 2012-04-05 | 2013-10-23 | 优配尼斯有限公司 | 电动机控制分析器 |
JP6133825B2 (ja) | 2014-08-28 | 2017-05-24 | ファナック株式会社 | 反転時の最適な加速度を算出する数値制御装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3838325A (en) * | 1973-08-30 | 1974-09-24 | K Kobayashi | Motor speed acceleration-deceleration control circuit |
JPS5574605A (en) * | 1978-11-29 | 1980-06-05 | Hitachi Ltd | Operation control system for industrial robbot or the like |
JPS5633703A (en) * | 1979-08-25 | 1981-04-04 | Fanuc Ltd | Signal converting circuit |
JPS6023939B2 (ja) * | 1979-09-28 | 1985-06-10 | ファナック株式会社 | 倣い制御方式 |
JPS57189217A (en) * | 1981-05-18 | 1982-11-20 | Nec Corp | Positioning controller |
US4486693A (en) * | 1982-07-06 | 1984-12-04 | Contitronix, Inc. | Motor velocity control |
-
1982
- 1982-10-01 JP JP57172863A patent/JPS5962909A/ja active Granted
-
1983
- 1983-09-30 US US06/610,983 patent/US4554497A/en not_active Expired - Lifetime
- 1983-09-30 DE DE8383903111T patent/DE3382051D1/de not_active Expired - Lifetime
- 1983-09-30 EP EP83903111A patent/EP0120970B1/de not_active Expired
- 1983-09-30 WO PCT/JP1983/000326 patent/WO1984001444A1/ja active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
EP0120970A1 (de) | 1984-10-10 |
EP0120970A4 (de) | 1986-12-01 |
JPS5962909A (ja) | 1984-04-10 |
JPH045202B2 (de) | 1992-01-30 |
WO1984001444A1 (en) | 1984-04-12 |
US4554497A (en) | 1985-11-19 |
EP0120970B1 (de) | 1990-12-05 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |