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
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.
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)
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)
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)
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 |
-
1995
- 1995-10-10 AT AT95115952T patent/ATE161638T1/de not_active IP Right Cessation
- 1995-10-10 EP EP95115952A patent/EP0768587B1/de not_active Expired - Lifetime
- 1995-10-10 DE DE59501185T patent/DE59501185D1/de not_active Expired - Lifetime
- 1995-10-10 ES ES95115952T patent/ES2111362T3/es not_active Expired - Lifetime
-
1996
- 1996-10-10 US US08/722,445 patent/US5832188A/en not_active Expired - Fee Related
- 1996-10-10 CN CN96122836A patent/CN1097758C/zh not_active Expired - Fee Related
- 1996-10-10 KR KR1019960044980A patent/KR970022624A/ko not_active Application Discontinuation
Cited By (2)
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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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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