ES2111362T3 - Guia del movimiento sincronizada por impulsos de reloj en sistemas de exploracion temporales discretos. - Google Patents

Guia del movimiento sincronizada por impulsos de reloj en sistemas de exploracion temporales discretos.

Info

Publication number
ES2111362T3
ES2111362T3 ES95115952T ES95115952T ES2111362T3 ES 2111362 T3 ES2111362 T3 ES 2111362T3 ES 95115952 T ES95115952 T ES 95115952T ES 95115952 T ES95115952 T ES 95115952T ES 2111362 T3 ES2111362 T3 ES 2111362T3
Authority
ES
Spain
Prior art keywords
guide
synchronized movement
exploration systems
clock impulses
discrete
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
Application number
ES95115952T
Other languages
English (en)
Inventor
Wolfgang Dr Ing Papiernik
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Application granted granted Critical
Publication of ES2111362T3 publication Critical patent/ES2111362T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • G05B19/416—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
    • G05B21/00—Systems involving sampling of the variable controlled
    • G05B21/02—Systems involving sampling of the variable controlled electric
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42244—Enter acceleration, jerk, generator outputs acceleration, speed, position by integration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

LA INVENCION SE REFIERE A UN PROCEDIMIENTO ASI COMO UN DISPOSITIVO PARA GUIA DE MOVIMIENTO SINCRONA DE INTERVALO EN SISTEMAS DE EXPLORACION DISCRETOS DE TIEMPO, EN PARTICULAR PARA UTILIZACION MEDIANTE CONTROLES NUMERICOS DE MAQUINAS DE HERRAMIENTA Y ROBOTS, DONDE COMO MAGNITUD (U) DE AJUSTE SIRVE LA DERIVACION DE CUALQUIER ORDEN (M) DE LA VELOCIDAD (V O X{SUB,2}) DE BANDA O DE CUALQUIER ORDEN M+1 DE LA SITUACION (S O X{SUB,1}). DE FORMA PREFERENTE SE UTILIZA LA ACELERACION (A O X{SUB,3}) O EL TIRON (R O X{SUB,4}), A PARTIR DE LA IGUALACION DE MATRICES DE SISTEMA DISCRETAS DE TIEMPO N=M+1 DEL SISTEMA DE EXPLORACION EN SITUACION DE PRINCIPIO PREVIAMENTE DADA (X{SUB,K}) Y DEL VECTOR (X{SUB,K+V}) DE SITUACION DESEADO, SIENDO DETERMINADO EN LA SUCESION (U) DE CONTROL EXACTO PARA LA GUIA DE MOVIMIENTO Y LA MAGNITUD (U) DE AJUSTE CORRESPONDIENTE A LOS VALORES DETERMINADOS DE LA SUCESION (U) DE CONTROL EN LA RETICULA (K*T) DE TIEMPO DEL SISTEMA DE EXPLORACION, EN CONTROLES NUMERICOS PARA MAQUINAS HERRAMIENTAS Y ROBOTS, EN PARTICULAR EN INTERVALO DE INTERPOLACION. SIEMPRE QUE EL ORDEN N DE LA IGUALACION DE MATRIZ DE SISTEMA SEA MENOR QUE LA CANTIDAD DE INTERVALOS (V) DE EXPLORACION PARA EL PROCEDIMIENTO DE ACUERDO CON LA SITUACION (X{SUB,K}) DE PRINCIPIO A LA SITUACION (X{SUB,K+V) DESEADA, SE UTILIZA LA CIFRA (V-N) DEL GRADO DE LIBERTAD ADICIONAL DE ACUERDO CON LAS CONDICIONES PARA EL CUMPLIMIENTO DE LOS CRITERIOS SECUNDARIOS, EN PARTICULAR PARA LA CONSIDERACION DE LA MECANICA UTILIZADA MEDIANTE LA MINIMIZACION DE LA ENERGIA DE MAGNITUD DE AJUSTE MEDIA.
ES95115952T 1995-10-10 1995-10-10 Guia del movimiento sincronizada por impulsos de reloj en sistemas de exploracion temporales discretos. Expired - Lifetime ES2111362T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP95115952A EP0768587B1 (de) 1995-10-10 1995-10-10 Taktsynchrone Bewegungsführung in zeitdiskreten Abtastsystemen

Publications (1)

Publication Number Publication Date
ES2111362T3 true ES2111362T3 (es) 1998-03-01

Family

ID=8219707

Family Applications (1)

Application Number Title Priority Date Filing Date
ES95115952T Expired - Lifetime ES2111362T3 (es) 1995-10-10 1995-10-10 Guia del movimiento sincronizada por impulsos de reloj en sistemas de exploracion temporales discretos.

Country Status (7)

Country Link
US (1) US5832188A (es)
EP (1) EP0768587B1 (es)
KR (1) KR970022624A (es)
CN (1) CN1097758C (es)
AT (1) ATE161638T1 (es)
DE (1) DE59501185D1 (es)
ES (1) ES2111362T3 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114466730A (zh) * 2019-08-23 2022-05-10 实时机器人有限公司 用于使机器人优化速度同时保持对加速度和加加速度的限制的运动规划

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10063722C2 (de) * 2000-12-20 2003-07-03 Siemens Ag Ruckbegrenzung mit Adaption der Bahndynamik
DE10200680B4 (de) 2002-01-10 2004-03-25 Siemens Ag Minimale Schwingungsanregung beim Verfahren mit Ruckbegrenzung durch Adaption von Ruckprofilen
DE102004059966B3 (de) * 2004-12-13 2006-06-22 Siemens Ag Verfahren und Einrichtung zur Bewegungsführung eines bewegbaren Maschinenelements einer numerisch gesteurten Maschine
DE102006015359B4 (de) * 2006-04-03 2011-05-19 Siemens Ag Betriebsverfahren für eine Anlage mit einem mechanisch bewegbaren Element sowie Datenträger und Steuereinrichtung zur Realisierung eines derartigen Betriebsverfahrens
US7680547B2 (en) * 2006-06-08 2010-03-16 Liu Hugh H T Method, system and computer program for generic synchronized motion control for multiple dynamic systems
JP4851900B2 (ja) * 2006-09-22 2012-01-11 東芝ストレージデバイス株式会社 ２自由度位置制御方法、２自由度位置制御装置および媒体記憶装置
US7479751B2 (en) * 2007-01-29 2009-01-20 Rockwell Automation Technologies, Inc. Elimination of unintended velocity reversals in s-curve velocity profiles
US8050800B2 (en) * 2007-10-21 2011-11-01 Ge Intelligent Platforms, Inc. Method and system for meeting end conditions in a motion control system
US8214415B2 (en) * 2008-04-18 2012-07-03 Motion Engineering Incorporated Interpolator for a networked motion control system
JP5378318B2 (ja) * 2010-07-30 2013-12-25 日立オートモティブシステムズ株式会社 車両運動制御装置
JP5146512B2 (ja) 2010-10-13 2013-02-20 オムロン株式会社 制御装置、制御システムおよび制御方法
US10268183B2 (en) * 2015-03-04 2019-04-23 Omron Corporation Control device and method of synchronizing control

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
US4775903A (en) * 1986-10-14 1988-10-04 Hewlett-Packard Company Sampled servo seek and track follow system for a magnetic disc drive
CN87100136A (zh) * 1987-01-06 1988-07-20 西安交通大学 一种数控机床自适应控制仪与控制方法
JP2808119B2 (ja) * 1988-07-28 1998-10-08 ファナック株式会社 加減速制御方式
DE68925529D1 (de) * 1989-03-08 1996-03-07 Ibm Abschätzung-positionierungssystem und verfahren
EP0419706B1 (de) * 1989-09-27 1995-01-25 Siemens Aktiengesellschaft Verfahren zur numerischen Positions- oder Bahnsteuerung
KR930007775B1 (ko) * 1990-12-28 1993-08-19 삼성전자 주식회사 로보트의 직선보간(補間)방법
DE4107514C2 (de) * 1991-03-08 2002-09-26 Siemens Ag Antriebsregelungssystem
US5508596A (en) * 1993-10-07 1996-04-16 Omax Corporation Motion control with precomputation
DE59504754D1 (de) * 1994-10-21 1999-02-18 Siemens Ag Ruckbegrenzte geschwindigkeitsführung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114466730A (zh) * 2019-08-23 2022-05-10 实时机器人有限公司 用于使机器人优化速度同时保持对加速度和加加速度的限制的运动规划
CN114466730B (zh) * 2019-08-23 2023-05-23 实时机器人有限公司 用于使机器人优化速度同时保持对加速度和加加速度的限制的运动规划

Also Published As

Publication number Publication date
DE59501185D1 (de) 1998-02-05
CN1097758C (zh) 2003-01-01
US5832188A (en) 1998-11-03
KR970022624A (ko) 1997-05-30
ATE161638T1 (de) 1998-01-15
EP0768587A1 (de) 1997-04-16
EP0768587B1 (de) 1997-12-29
CN1155688A (zh) 1997-07-30

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