JP7350559B2 - エンコーダ装置、駆動装置、ロボット装置、位置検出方法、物品の製造方法、プログラム、及び記録媒体 - Google Patents
エンコーダ装置、駆動装置、ロボット装置、位置検出方法、物品の製造方法、プログラム、及び記録媒体 Download PDFInfo
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- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
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Description
S(A)=S(A+)-S(A-) ・・・(1)
S(B)=S(B+)-S(B-) ・・・(2)
Φ2=ATAN2[S(A),S(B)]・・・(3)
ここで、ATAN2[Y,X]は、象限を判別して0~2π位相に変換する逆正接演算関数である。
S(A)’=cos(θ+e/2)・・・(4)
S(B)’=sin(θ-e/2)・・・(5)
S(A)’+S(B)’=2×cos(θ-π/4)sin(e/2-π/4)
・・・(6)
-S(A)’+S(B)’=2×sin(θ-π/4)cos(e/2-π/4)
・・・(7)
S(A)=(S(A)’+S(B)’)/(2×sin(e/2-π/4))=cosφ
・・・(8)
S(B)=(-S(A)’+S(B)’)/(2×cos(e/2-π/4))=sinφ
・・・(9)
ただし、φ=θ-π/4である。なお、誤差eについては、初期化動作によって記憶装置66に記憶させてもよい。
Φ1=ATAN2[S(A),S(B)]・・・(10)
Sv21=Φ2-Φ1・・・(11)
ABS1=(ROUND[((Sv21/(2π))×(FS/Pθ2)-Φ2)×(2π)]+Φ2/(2π))×Pθ2[deg.]・・・(12)
Φ2’=ATAN2[S(A),S(B)]・・・(13)
Φ1’=ATAN2[S(A),S(B)]・・・(14)
Sv21’=Φ2’-Φ1’・・・(15)
ABS2=(ROUND[((Sv21’/(2π))×(FS/Pθ2)-Φ2’)×(2π)]+Φ2’/(2π))×Pθ2[deg.]・・・(16)
ABS1=ABS2+180[deg.]・・・(17)
ABS=(ABS1+ABS2)/2・・・(18)
ABS11=ABS10+INC1 ・・・(19)
ABS21=ABS20+INC2 ・・・(20)
ABSOUT=(ABS11+ABS21)/2・・・(21)
本発明は、上述の実施形態の1以上の機能を実現するプログラムを、ネットワーク又は記憶媒体を介してシステム又は装置に供給し、そのシステム又は装置のコンピュータにおける1つ以上のプロセッサがプログラムを読出し実行する処理でも実現可能である。また、1以上の機能を実現する回路(例えば、ASIC)によっても実現可能である。
Claims (16)
- 検出ユニットと、
前記検出ユニットに対向して配置され、前記検出ユニットに対して相対的に回転可能なスケールと、
前記検出ユニットから出力された出力信号を処理して、基準位置に対する前記スケールの相対位置を求めることで、前記スケールの絶対位置を検出する処理部と、を備え、
前記処理部は、
前記検出ユニットに対する前記スケールの相対的な回転に伴って変化する、回転軸線に対する前記スケールの所定方向のずれ量が、閾値以下となる位置を、前記基準位置に設定する設定処理を実行することを特徴とするエンコーダ装置。 - 前記処理部は、
前記設定処理において、前記ずれ量が前記閾値を超える位置に前記スケールが回転している場合には、前記ずれ量が前記閾値以下となる位置まで前記スケールが回転するのを待ってから、前記基準位置を設定することを特徴とする請求項1に記載のエンコーダ装置。 - 前記スケールは、周期パターンを含み、
前記検出ユニットが出力する前記出力信号には、前記周期パターンの検出に応じた検出信号が含まれており、
前記処理部は、前記検出信号を処理して、前記スケールの相対変位を求めることを特徴とする請求項1又は2に記載のエンコーダ装置。 - 前記スケールは、互いに異なる周期を有する第1周期パターン及び第2周期パターンを含み、
前記検出ユニットが出力する前記出力信号には、前記第1周期パターンの検出に応じた第1検出信号、及び前記第2周期パターンの検出に応じた第2検出信号が含まれており、
前記処理部は、前記第1検出信号又は前記第2検出信号を処理して、前記スケールの相対変位を求めることを特徴とする請求項1又は2に記載のエンコーダ装置。 - 前記処理部は、
前記設定処理において、前記第1検出信号及び前記第2検出信号を処理してバーニア信号を生成し、前記バーニア信号を用いて、前記基準位置を設定することを特徴とする請求項4に記載のエンコーダ装置。 - 前記回転軸線を挟んで配置された一対の前記検出ユニットを備えることを特徴とする請求項1乃至5のいずれか1項に記載のエンコーダ装置。
- 前記処理部は、
前記一対の検出ユニットから取得した前記出力信号に基づいて、前記ずれ量を求めることを特徴とする請求項6に記載のエンコーダ装置。 - 第1部材と、
第2部材と、
前記第1部材に対して前記第2部材を相対的に回転駆動する駆動機構と、
請求項1乃至7のいずれか1項に記載のエンコーダ装置と、を備え、
前記検出ユニットが前記第1部材および前記第2部材の一方に設けられ、
前記スケールが前記第1部材および前記第2部材の他方に設けられることを特徴とする駆動装置。 - 前記駆動機構を制御する制御部を更に備え、
前記制御部は、前記設定処理において、前記ずれ量が前記閾値を超える場合には、前記ずれ量が前記閾値以下となるように、前記第2部材が前記第1部材に対して相対的に回転するよう前記駆動機構を制御することを特徴とする請求項8に記載の駆動装置。 - 第1リンクと、
第2リンクと、
前記第1リンクに対して前記第2リンクを相対的に回転駆動する駆動機構と、
請求項1乃7のいずれか1項に記載のエンコーダ装置と、を備え、
前記検出ユニットが前記第1リンクおよび前記第2リンクの一方に設けられ、
前記スケールが前記第1リンクおよび前記第2リンクの他方に設けられることを特徴とするロボット装置。 - 前記駆動機構を制御する制御部を更に備え、
前記制御部は、前記設定処理において、前記ずれ量が前記閾値を超える場合には、前記ずれ量が前記閾値以下となるように、前記第2リンクが前記第1リンクに対して相対的に回転するよう前記駆動機構を制御することを特徴とする請求項10に記載のロボット装置。 - 警告を発する警告部を更に備え、
前記制御部は、前記ずれ量が前記閾値を超える場合、前記警告部に警告を発生させることを特徴とする請求項11に記載のロボット装置。 - 検出ユニットに対向して配置されたスケールが、前記検出ユニットに対して相対的に回転可能であり、前記検出ユニットから出力された出力信号を取得し、前記スケールの絶対位置を求める位置検出方法であって、
前記検出ユニットに対する前記スケールの相対的な回転に伴って変化する、回転軸線に対する前記スケールの所定方向のずれ量が、閾値以下となる位置を、前記スケールの絶対位置を検出するための基準位置に設定する設定処理を行い、
前記設定処理を行った後、取得した前記出力信号を処理して前記基準位置に対する前記スケールの相対変位を求めることで、前記スケールの絶対位置を求めることを特徴とする位置検出方法。 - 前記スケール及び前記検出ユニットが関節に配置されたロボットアームを用意し、
請求項13に記載の位置検出方法により求めた前記スケールの絶対位置の情報に基づいて前記ロボットアームを動作させて、物品を製造することを特徴とする物品の製造方法。 - 請求項13に記載の位置検出方法をコンピュータに実行させるためのプログラム。
- 請求項15に記載のプログラムを記録した、コンピュータにより読み取り可能な記録媒体。
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JP2019146511A JP7350559B2 (ja) | 2019-08-08 | 2019-08-08 | エンコーダ装置、駆動装置、ロボット装置、位置検出方法、物品の製造方法、プログラム、及び記録媒体 |
US16/931,604 US11709076B2 (en) | 2019-08-08 | 2020-07-17 | Encoder apparatus and position detection method |
CN202010789737.1A CN112338961B (zh) | 2019-08-08 | 2020-08-07 | 编码器装置和位置检测方法 |
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