JPS61820A - Balanced controller - Google Patents
Balanced controllerInfo
- Publication number
- JPS61820A JPS61820A JP12414984A JP12414984A JPS61820A JP S61820 A JPS61820 A JP S61820A JP 12414984 A JP12414984 A JP 12414984A JP 12414984 A JP12414984 A JP 12414984A JP S61820 A JPS61820 A JP S61820A
- Authority
- JP
- Japan
- Prior art keywords
- moment
- inertia
- control device
- fluid
- magnetic fluid
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39178—Compensation inertia arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は被搬送物を保持して回動する回動部材の慣性
モーメントを制御する平衡制御装置に関するものである
。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a balance control device that controls the moment of inertia of a rotating member that rotates while holding an object to be transported.
従来のこの種平衡制御装置として、第１図に示すものが
あった。即ち第１図において、（１）は支持台、（２）
は支持台（１）に支持されたロボットの腕、（３）は腕
（２）に取付けられたロボットの手、（４）はロボット
制御装置、（６）は腕（２）に着脱自在に取付けられた
重錘、（６）は手（３）によって把持される被把持物で
ある。As a conventional balance control device of this type, there is one shown in FIG. That is, in FIG. 1, (1) is the support stand, (2)
is the robot arm supported on the support base (1), (3) is the robot hand attached to the arm (2), (4) is the robot control device, and (6) is detachably attached to the arm (2). The attached weight (6) is an object to be grasped by the hand (3).
この従来のものでは、ロボット制御装置（４）によって
動作を指示されたロボットの手（３）が被゛納持物（６
）を把持し九ロボットの腕（２）が所定の位置に移動し
て後、手（３）が被把持物（６）を離して被把持物（６
）を所定の位置に搬送する。In this conventional device, the robot's hand (3), which is instructed to operate by the robot control device (4), moves the object to be carried (6).
), and after the arm (2) of the nine robots moves to a predetermined position, the hand (3) releases the object to be grasped (6) and moves it to the object to be grasped (6).
) to the specified position.
従来の平衡制御装置は、このよりに構成されているので
、被把持物の重量に対応した慣性モーメントにすること
が必要で、一定の慣性モーメントにしなければその慣性
モーメントの違いによって腕の停止位置に差異を生ずる
欠点があった。また一定の慣性モーメントを腕に与える
ために重錘の位置をその都度調節しなければならず、調
整に時間を要する欠点があった。Conventional balance control devices are constructed in this way, so it is necessary to set the moment of inertia to correspond to the weight of the object to be gripped.If the moment of inertia is not constant, the stopping position of the arm may vary depending on the difference in the moment of inertia. There was a drawback that caused a difference. In addition, the position of the weight must be adjusted each time in order to provide a constant moment of inertia to the arm, which has the disadvantage of requiring time for adjustment.
この発明はこのような従来のものの欠点を除去するため
になされたもので、被搬送物を保持して回動する回動部
材に重錘用の磁性流体を収容した容器を取付け、この磁
性流体を移動制御する界磁発生装置を慣性モーメント制
御装置によって、被搬送物を保持した回動部材の慣性モ
ーメントに応じて制御することにより、回動部材の慣性
モーメントを迅速に制御する平衡制御装置を提供するも
のである。This invention was made in order to eliminate such drawbacks of the conventional ones, and a container containing a magnetic fluid for a weight is attached to a rotating member that rotates while holding an object to be transported, and the magnetic fluid is The balance control device quickly controls the moment of inertia of the rotating member by controlling the field generator that controls the movement of the object using the moment of inertia control device according to the moment of inertia of the rotating member holding the transported object. This is what we provide.
以下この発明Ｄ−１０６例を第２図にもとづいて説明す
る。即ち第２図において、（７）はロボットの腕（２）
に設けられ内部に磁性流体（３）を軸方向に移動可能に
収容する容器、（９）は容器（γ）内の磁性流体をスム
ーズに流動させるための接続管、（１０ａ）〜（１０ｄ
）は容器（））の周りに巻回配置された鉄心、（ｌｌ
ａ）（ｌｌａ）は鉄心（１０＆）〜（１０（１）に巻回
され通電によって発生する磁界によって容器（７）内の
磁性流体を移動させるコイル、（６）は腕（２）の慣性
モーメントを検出し所定のコイル（ｔｔａ）〜（ｔ ｔ
ａ）に通電して磁性流体（３）の位置を決めるための慣
性モーメント制御装置である。This invention D-106 example will be explained below based on FIG. 2. In other words, in Figure 2, (7) is the robot's arm (2).
(9) is a connecting pipe for smoothly flowing the magnetic fluid in the container (γ); (10a) to (10d);
) is an iron core wound around a container ()), (ll
a) (lla) is a coil wound around iron cores (10&) to (10(1)) that moves the magnetic fluid in the container (7) by the magnetic field generated by energization, and (6) is the moment of inertia of the arm (2). is detected and a predetermined coil (tta) ~ (t t
This is a moment of inertia control device for determining the position of the magnetic fluid (3) by energizing the magnetic fluid (3).
なおその他の４１１Ｉ或は第１図に示す従来のものと同
様であるので説明を省略する。Note that the other parts are similar to the 411I or the conventional one shown in FIG. 1, so the explanation will be omitted.
このように構成されたものでは、ロボットの手（３）が
被把持物（６）を把持すると、ロボットの腕（２）の慣
性モーメントが慣性モーメント制御装置＠によって検出
され磁性流体（３）を移動させるべき位置が決定され、
その位置にあるコイル（１１Ｇ）に通電され磁界が形成
される。この磁界によって磁性流体（３）が移動しロボ
ットの腕（２）の慣性モーメントカ一定に保持される。With this configuration, when the robot's hand (3) grasps the object to be grasped (6), the moment of inertia of the robot's arm (2) is detected by the moment of inertia controller @, and the magnetic fluid (3) is The position to move is determined,
The coil (11G) at that position is energized and a magnetic field is formed. This magnetic field moves the magnetic fluid (3) and keeps the moment of inertia of the robot arm (2) constant.
ここで磁性流体（３）の移動時に容器（７）内において
、磁性流体（３）の左右の容器（７）の内圧は接続管（
９）によって同一圧力になり磁性流体（３）はスムーズ
に移動される。Here, when the magnetic fluid (3) is moved inside the container (7), the internal pressure of the left and right containers (7) of the magnetic fluid (3) is
9), the pressure becomes the same and the magnetic fluid (3) is moved smoothly.
なおこの実施例では、容器（７）の周りに鉄心を巻回配
置した場合を示したが、棒状の鉄心でも同様の効果が得
られる。ロボットの腕（２）の回転中心に対しロボット
の手（３）の位置する側と同じ側に慣性モーメントを調
節するための装置を設けたが、手（３）の位置する側と
逆側に設けて回転中心に対してバランスするよう調節す
るようにしても、同様の効果が得られるのみならず回転
中心となる支持台に加わる曲げモーメントや回転軸の偏
荷重を小さくすることができる。Although this embodiment shows the case where the iron core is wound around the container (7), the same effect can be obtained with a rod-shaped iron core. A device for adjusting the moment of inertia was installed on the same side as the robot's hand (3) with respect to the center of rotation of the robot's arm (2), but on the opposite side to the side where the hand (3) is located. Even if it is provided and adjusted so as to be balanced with respect to the rotation center, not only the same effect can be obtained, but also the bending moment applied to the support base serving as the rotation center and the unbalanced load on the rotation shaft can be reduced.
Ｆ記のようにこの発明による平衡制御装置は、被搬送物
を保持して回動する回動部材の慣性モーメントを磁性流
体の移動によって制御するようにしたもので、迅速に制
御することができる。As shown in item F, the balance control device according to the present invention is designed to control the moment of inertia of a rotating member that rotates while holding an object to be transported by moving a magnetic fluid, and can quickly control the moment of inertia of a rotating member that rotates while holding an object to be transported. .
第１図は従来のこの種平衡制御装置を示す正面図、第２
図はこの発明の一実施例を示す正面図である。
図中、（１）は支持台、（２）はロボットの腕、（３）
はロボットの手、（４）はロボット制御装置、（６）は
被把持物、（７）は容器、（３）は磁性流体、（９）は
接続管、（１０＆）〜（１ｏａ）は鉄心、（ｌｌａ）〜
（ｌ ｔａ）はコイル、＠は慣性モーメント制御装置で
ある。
尚、図中同一符号は同一または相当部分を示す。Figure 1 is a front view showing a conventional balance control device of this type;
The figure is a front view showing an embodiment of the present invention. In the figure, (1) is the support base, (2) is the robot arm, and (3)
is the robot's hand, (4) is the robot control device, (6) is the object to be grasped, (7) is the container, (3) is the magnetic fluid, (9) is the connecting pipe, (10&) to (1oa) are the iron cores. , (lla) ~
(l ta) is a coil, and @ is a moment of inertia control device. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (4)
部材に取付けられた容器内に移動自在に収容された重錘
用の磁性流体、この磁性流体を移動制御する界磁発生装
置、この界磁発生装置を上記回動部材の慣性モーメント
に応じて制御する慣性モーメント制御装置を備えてなる
平衡制御装置。(1) A rotating member that holds and rotates an object to be transported, a magnetic fluid for a weight movably housed in a container attached to this rotating member, and a field that controls the movement of this magnetic fluid. A balance control device comprising a generator and a moment of inertia control device that controls the field generator according to the moment of inertia of the rotating member.
回動部材の慣性モーメントを被搬送物の重量に無関係に
一定にするよう制御してなる特許請求の範囲第１項記載
の平衡制御装置。(2) The balance control device according to claim 1, wherein the moment of inertia control device is configured to control the moment of inertia of a rotary member holding an object to be transported to be constant regardless of the weight of the object to be transported. .
の範囲第１項又は第２項記載の平衡制御装置。(3) The balance control device according to claim 1 or 2, wherein the rotating member is an arm that grips the conveyed object.
れに巻回されたコイルとから構成されている特許請求の
範囲第１項乃至第８項のうちのいずれか１項記載の平衡
制御装置。(4) The field generator includes a plurality of mutually independent iron cores and a coil wound around the cores, as described in any one of claims 1 to 8. balance controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12414984A JPS61820A (en) | 1984-06-14 | 1984-06-14 | Balanced controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12414984A JPS61820A (en) | 1984-06-14 | 1984-06-14 | Balanced controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61820A true JPS61820A (en) | 1986-01-06 |
Family
ID=14878145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12414984A Pending JPS61820A (en) | 1984-06-14 | 1984-06-14 | Balanced controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61820A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004030872A1 (en) * | 2003-03-04 | 2004-04-15 | Necati Hacikadiroglu | Balance system by fluid transfer for legged robots |
| CN103192408A (en) * | 2013-04-03 | 2013-07-10 | 重庆绿色智能技术研究院 | High-speed and high-accuracy magneto-rheological grease flexible manipulator connection rod and multi-connection-rod manipulator system |
| EP3479775A4 (en) * | 2016-06-29 | 2019-09-25 | Microport (Shanghai) Medbot Co., Ltd. | Surgical robot and mechanical arm thereof |
-
1984
- 1984-06-14 JP JP12414984A patent/JPS61820A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004030872A1 (en) * | 2003-03-04 | 2004-04-15 | Necati Hacikadiroglu | Balance system by fluid transfer for legged robots |
| CN103192408A (en) * | 2013-04-03 | 2013-07-10 | 重庆绿色智能技术研究院 | High-speed and high-accuracy magneto-rheological grease flexible manipulator connection rod and multi-connection-rod manipulator system |
| EP3479775A4 (en) * | 2016-06-29 | 2019-09-25 | Microport (Shanghai) Medbot Co., Ltd. | Surgical robot and mechanical arm thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0924689B1 (en) | Control apparatus and method | |
| CA2064094A1 (en) | Magnetic bearing structure | |
| EP1071097A4 (en) | Stage positioning device | |
| US4983869A (en) | Magnetic bearing | |
| JPH07256503A (en) | Spindle apparatus | |
| US4370004A (en) | Magnetically suspended type momentum ring assembly | |
| ES2043973T3 (en) | DEVICE FOR THE REGULATION OF THE TIGHTENING FORCE OF A COIL ON A SUPPORT ROLLER. | |
| JPS61820A (en) | Balanced controller | |
| JP4547647B2 (en) | Thrust-controllable actuator | |
| JP3330821B2 (en) | Gravity compensator | |
| CN85104531B (en) | Globular rotor moment electric motor | |
| WO1990001122A1 (en) | Electromagnetic bearings | |
| EP0049300A1 (en) | A magnetically suspended type momentum ring assembly | |
| JPH033654A (en) | Articular motion actuator | |
| Tan et al. | Weighted least-norm solution based scheme for avoiding joint limits for redundant manipulators. | |
| JPS55123836A (en) | Taking-up apparatus | |
| JPS62115188U (en) | ||
| JPH08166425A (en) | Rotary mechanism for objective device in ic tester handler | |
| JPH077887A (en) | Servomotor of changeable moment of inertia of rotor | |
| JPS63289351A (en) | Active damper | |
| JPS557707A (en) | Mirror oscillation driving device | |
| RU2028928C1 (en) | Manipulator module | |
| JPS61281310A (en) | Manipulator system | |
| JPS6058157B2 (en) | zero gravity hoist | |
| JPH04121094A (en) | Torque correcting circuit for magnetic circuit |