首页> 外国专利> DEVICE AND METHOD FOR ACCELERATION AND DECELERATION PATTERN GENERATION, AND SOLUTION OF INVERSE KINEMATICAL PROBLEM AND TIME BASE CORRECTING METHOD USED FOR THE SAME

DEVICE AND METHOD FOR ACCELERATION AND DECELERATION PATTERN GENERATION, AND SOLUTION OF INVERSE KINEMATICAL PROBLEM AND TIME BASE CORRECTING METHOD USED FOR THE SAME

机译:加速和减速模式生成的装置和方法,以及用于该运动的逆运动学问题和时基校正方法

摘要

PURPOSE: To perform smooth control and shorten the calculation time by unifying CP control and PTP control according to highly flexible algorithm. ;CONSTITUTION: A vP0 determination part 14 determines a tentative value of the speed peak value Vp of an acceleration/deceleration curve according to the information from a command part 13 and a line element series calculation part 15 generates an acceleration/deceleration pattern corresponding to the length of a CP control curve and also divides the curve at specific intervals of time to find a line element series. The line element series and a command position on the control curve are set in an inverting filter part 16, and actuation is performed to obtain a joint angle series. The inverting filter part 16 has negative feedback constitution including a path corresponding to a conversion matrix of the same order. An optimum Vp value determination part 17 has a virtual servo system, calculates a proper value of the Vp from a tentative value in the joint angle series so as to obtain prescribed precision, a speed, and acceleration, and imposes modulation on the time base after corrective calculation as to the joint angle series, thereby sending out the final result to a servo system plus mechanism system 18.;COPYRIGHT: (C)1994,JPO&Japio
机译:目的:根据高度灵活的算法,通过统一CP控制和PTP控制来执行平滑控制并缩短计算时间。 ;构成:vP 0 确定部分14根据来自命令部分13的信息确定加减速曲线的速度峰值Vp的暂定值,并生成线元序列计算部分15对应于CP控制曲线长度的加速/减速模式,并且还以特定的时间间隔对曲线进行分割以找到线元系列。在反相滤波器部16中设定线要素系列和控制曲线上的指令位置,并进行致动以获得关节角度系列。反相滤波器部分16具有负反馈构造,该负反馈构造包括对应于相同阶数的转换矩阵的路径。最佳Vp值确定部分17具有虚拟伺服系统,从关节角度序列中的暂定值中计算出Vp的适当值,以获得规定的精度,速度和加速度,并对之后的时基进行调制。对关节角度序列进行校正计算,然后将最终结果发送到伺服系统加机械系统18。版权所有:(C)1994,JPO&Japio

著录项

  • 公开/公告号JPH0619528A

    专利类型

  • 公开/公告日1994-01-28

    原文格式PDF

  • 申请/专利权人 SONY CORP;

    申请/专利号JP19920194701

  • 发明设计人 ITOU IETOSHI;

    申请日1992-06-30

  • 分类号G05B19/407;B25J13/00;G05B19/18;

  • 国家 JP

  • 入库时间 2022-08-22 04:51:25

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