Safety controller and safety control method

The present invention relates to time partitioning to enable execution of tasks in a constant cycle while guaranteeing dependence of a safety-related system. A safety controller includes a processor and a system program for controlling allocation of an execution time of the processor to tasks. The processor executes the system program to schedule tasks in accordance with scheduling information indicating, in a constant cycle, a period of one of a safety-related TP to which a safety-related task belongs and a non-safety-related TP to which a non-safety-related task belongs. In a task of a TP in the constant cycle, the processor stores the end information upon completion of processing in the task and brings the task into a ready state. In the scheduling, when the end information is stored, the processor inhibits allocation of the execution time even when the task in the TP in the constant cycle is in the ready state, and deletes the end information during a period between an end of the period of the TP in the constant cycle and a start of a period in a next cycle of the TP.

Safety controller and safety control method

To perform control in synchronization with a control cycle of a control target while maintaining safety. A safety controller includes: a processor; a system program for controlling allocation of an execution time of the processor to tasks; a signal generation unit that generates a periodic carrier signal; a control unit that updates a control content for the control target with a control content instructed by instruction information output from the processor, every first predetermined cycle of the carrier signal, and performs PWM control for the control target; and an interrupt signal generation unit that outputs an interrupt signal to the processor every second predetermined cycle of the carried signal. The processor executes the system program to schedule the tasks in accordance with scheduling information on a safety-related time partition and a normal control time partition, switches the time partitions according to an output of the interrupt signal, and outputs the instruction information to the control unit by a normal control task or a safety-related task.

Robot system and method of manufacturing workpiece

A robot system according to one aspect of an embodiment includes a robot and an instructing module. The robot holds one of a plurality of feed materials used for processing a workpiece. The instructing module gives instructions to the robot, when the feed materials are used for processing the single workpiece, for an operation in which the feed material held last in the previous round of processing a workpiece is used first in the subsequent round of processing a workpiece.

Method for controlling an automated work cell

The invention relates to a control method applied to an automated work cell which includes at least one robot arm ( 4 ) having at least three degrees of freedom controlled according to a plurality of control axes (A 1 -A 6 ; X, Y, Z, Rx, Ry, Rz); a control centre ( 8 ); a device ( 6 ) for controlling the robot arm ( 4 ), which includes a plurality of motor controllers ( 61 - 66 ) each controlling the operation of one motor (M 1 -M 6 ), suitable for operating at least one portion of the robot arm ( 4 ); and a communication bus ( 14 ) between the control centre ( 8 ) and the device ( 6 ) for controlling the robot arm ( 4 ). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre ( 8 ) to control the control axes to a single arithmetic unit ( 10 ) belonging to the device ( 6 ) for controlling the robot ( 4 ); b) determining, within the arithmetic unit ( 10 ) and according to instructions received from the control centre ( 8 ), orders ( 0 ̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.

Neural Monitor-Based Dynamic Haptics

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Neural monitor-based dynamic haptics

A surgical system includes a robotic device, and a surgical tool coupled to the robotic device and comprising a distal end. The system further includes a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal, and a sensor configured to measure the electromyographic signal. The neural monitor is configured to determine a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal, and cause feedback to be provided to a user based on the distance.

ADAPTIVE NONLINEAR MODEL PREDICTIVE CONTROL USING A NEURAL NETWORK AND INPUT SAMPLING

A novel method for adaptive Nonlinear Model Predictive Control (NMPC) of multiple input, multiple output (MIMO) systems, called Sampling Based Model Predictive Control (SBMPC) that has the ability to enforce hard constraints on the system inputs and states. However, unlike other NMPC methods, it does not rely on linearizing the system or gradient based optimization. Instead, it discretizes the input space to the model via pseudo-random sampling and feeds the sampled inputs through the nonlinear plant, hence producing a graph for which an optimal path can be found using an efficient graph search method. 1. A method for adaptive nonlinear model predictive control of multiple input , multiple output systems , comprising:generating a plurality of inputs, each input further comprising an input state, the plurality of inputs and input states collectively comprising an input space;imposing one or more hard constraints on the inputs and the input states;executing a function operative to discretize the input space and generating a first set of sampled inputs;implementing a nonlinear model and generating one or more outputs based on the sampled inputs;executing a graph generating function and generating a graph of the sampled inputs and the outputs; andexecuting an optimizing function and determining an optimal path for the graph.2. The method of claim 1 , wherein the function operative to discretize the input space comprises a pseudo-random sampling.3. The method of claim 1 , wherein the nonlinear model comprises a radial basis function neural network.4. The method of claim 1 , wherein the non-linear model comprises a minimal resource allocation network learning algorithm.5. The method of claim 1 , wherein the output generated by the non-linear model comprises model-based state predictions to minimize a cost function.6. The method of claim 1 , wherein the graph generating function further comprises:determining a node having a high probability of leading to a minimization ...

SURGICAL GUIDANCE SYSTEM AND METHOD

A method for controlling a surgical tool includes associating a joint of a patient with a representation of the joint, collecting data indicating at least one of a position and an orientation of a first bone and a second bone of the joint as the joint is moved through a range of motion, and creating a surgical plan based at least in part on the data collected. The method further includes establishing a virtual cutting boundary on the representation of the joint based on the surgical plan, superimposing a representation of the surgical tool on the representation of the joint, wherein the surgical tool is to be operated by a user to execute the surgical plan during a surgical procedure, and controlling the surgical tool to prevent the surgical tool from cutting a portion of the joint outside a boundary that corresponds to the virtual cutting boundary. 1. A method for controlling a surgical tool , comprising:associating a joint of a patient with a representation of the joint;collecting data indicating at least one of a position and an orientation of a first bone and a second bone of the joint as the joint is moved through a range of motion;creating a surgical plan based at least in part on the data collected;establishing a virtual cutting boundary on the representation of the joint based on the surgical plan;superimposing a representation of the surgical tool on the representation of the joint, wherein the surgical tool is to be operated by a user to execute the surgical plan during a surgical procedure; andcontrolling the surgical tool to prevent the surgical tool from cutting a portion of the joint outside a boundary that corresponds to the virtual cutting boundary.2. The method of claim 1 , wherein creating a surgical plan comprises planning bone preparation for implanting a first implant on the first bone of the joint.3. The method of claim 2 , wherein planning bone preparation for implanting the first implant includes associating a representation of the first ...

SAFETY MANAGEMENT METHOD AND SAFETY MANAGEMENT SYSTEM

A safety management method sets a third space that both a worker and a robot can enter between a first space in which the worker is present and a second space in which the robot is disposed; sets, between the first space and the third space and between the second space and the third space, respectively, boundaries for monitoring crossing thereof; monitors the presence/absence of the robot or the worker in the third space; when a state of crossing of one boundary and a state of the worker or the robot in the third space are simultaneously switched to “detection”, restricts the operation of the robot, when crossing of another boundary is detected; and not restricts the operation of the robot when the state of crossing of the one boundary and the state of the worker or the robot in the third space are simultaneously switched to “non-detection”. 1. A safety management method comprising:setting a third space that both a worker and a robot can enter between a first space in which the worker is mainly present and a second space in which the robot is mainly disposed;setting, between the first space and the third space and between the second space and the third space, respectively, monitoring boundaries for monitoring crossing thereof;monitoring the presence/absence of the robot or the worker in the third space;when a monitoring state of crossing of one monitoring boundary and a monitoring state of the worker or the robot in the third space are substantially simultaneously switched from “non-detection” to “detection”, setting an alert state, in which the operation of the robot is restricted, when crossing of another monitoring boundary is detected; andcanceling the alert state only when the monitoring state of crossing of the one monitoring boundary and the monitoring state of the worker or the robot in the third space are substantially simultaneously switched from “detection” to “non-detection”.2. The safety management method according to claim 1 , wherein claim 1 , in a ...

PRODUCTION SUPPORT SYSTEM AND PRODUCTION SUPPORT METHOD

According to one embodiment, a production support system for supporting a production method for a product to which a model number is allocated in a course of production. The system includes a predicted model number calculation unit which to calculate a predicted model number for a work-in-process to which the model number is not allocated, on the basis of information about the work-in-process to which the model number is not allocated in the course of production, a requirement of the model number that is found in advance, and model number allocation condition information. 1. A production support system for supporting a production method for a product to which a model number is allocated in a course of production ,the system comprising a predicted model number calculation unit which to calculate a predicted model number for a work-in-process to which the model number is not allocated, on the basis of information about the work-in-process to which the model number is not allocated in the course of production, a requirement of the model number that is found in advance, and model number allocation condition information.2. The system according to claim 1 , the model number that varies is allocated to the product according a quality grade of the product.3. The system according to claim 1 , further comprising a completion prediction calculation unit which finds a probability that a work-in-process in the course of production with a predetermined model number will be completed within a predetermined number of days claim 1 , and calculates a number of products predicted to be complete by the product of the probability found and a number of works-in-process in the course of production.4. The system according to claim 1 , further comprising an analysis unit which claim 1 , with respect to a work-in-process to which the predicted model number is not found claim 1 , eliminates conditions one by one from information that influences model number decision in order from a process ...

NEURAL MONITOR-BASED DYNAMIC BOUNDARIES

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm. 125-. (canceled)26. A computer-implemented method for controlling a surgical system , the method comprising:generating a virtual boundary associated with an anatomy of a patient, based upon a surgical plan;receiving, from a neural monitor, a signal indicative of a distance between a surgical tool connected to a robotic device and a portion of a patient's anatomy;determining a neural monitor gain based on the signal received from the neural monitor;generating a first force value based on the neural monitor gain; andgenerating a robotic control based upon the first force value and a relationship between the surgical tool and the virtual boundary.27. The computer-implemented method of claim 26 , wherein the virtual boundary defines a volume associated with a sensitive portion of the patient's anatomy.28. The computer-implemented method of claim 27 , wherein the virtual boundary is configured to generate feedback forces that prevent movement of the surgical tool from crossing the virtual boundary associated with the sensitive portion of the patient's anatomy.29. The computer-implemented method of claim 26 , wherein generating the first force value further comprises:receiving a joint angular velocity of one or more joints of a robotic arm of the robotic device and generating the first force value proportional to the neural monitor gain and the joint angular velocity of one or more joints of the robotic arm.30. The computer- ...

ADAPTER FOR CONNECTING AN EMBEDDED SYSTEM TO A CONTROL COMPUTER, AND METHOD FOR ADAPTING AN ADAPTER

An adapter for connecting an embedded system to a control computer having a standard interface, in particular a network interface, a first subcircuit, and a second subcircuit, the first subcircuit being designed to communicate with the control computer via the standard interface by means of a standard protocol, preferably XCP. The first subcircuit is designed to convert a protocol functionality requested in the standard protocol via the standard interface, out of a set of supported protocol functionalities into the call for one or more elementary functions out of a defined overall set of elementary functions. The first subcircuit is connected to the second subcircuit via an internal interface, wherein the second subcircuit has a programmable computing module which is configured to provide at least one elementary function out of the overall set of elementary functions which can be called up via the internal interface by means of a call. 1. An adapter for connecting an embedded system to a control computer , the adapter comprising:a standard interface;a first subcircuit; anda second subcircuit, the first subcircuit being configured to communicate with the control computer via the standard interface via a standard protocol or the universal measurement and calibration protocol XCP,wherein the first subcircuit is connected to a second subcircuit via an internal interface,wherein the second subcircuit has a programmable computing module which is configured to provide at least one elementary function out of an overall set of elementary functions which can be called up via the internal interface via a call,wherein the first subcircuit is designed to convert one or more values received via the internal interface into a protocol format of the standard protocol,wherein the second subcircuit is connectable to the embedded system via an individual interface,wherein the first subcircuit comprises a programmable logic device and a non-volatile memory in which a fixed configuration ...

PROGRAMMING METHOD FOR A PATH TO BE TRAVELED BY AN END EFFECTOR

A programming device receives a number of local coordinate systems from a user. Each local coordinate system is referenced directly or via at least one other local coordinate system to a global machine coordinate system of a motion-controlled machine. The programming device receives from the user, in each case with reference to one of the local coordinate systems, a number of positions to be approached by the end effector and/or a number of obstacles to be bypassed by the end effector. The programming device determines, with reference to the positions to be approached received from the user and the obstacles received from the user in the global machine coordinate system, the path to be traveled by the end effector The programming device stores the path to be traveled by the end effector as a first file so that it can be retrieved again at a later time. 1. A method for determining a path for an end effector of a motion-controlled machine , comprising the steps of:receiving a number of local coordinate systems; each local coordinate system being referenced to a global machine coordinate system of the motion-controlled machine;receiving a plurality of positions to be approached by the end effector, each position being referenced to one of the local coordinate systems;determining a path to be traveled by the end effector in the global machine coordinate system with reference to the local coordinate system positions received; andstoring the path to be traveled by the end effector in the global machine coordinate system in a first file such that it can be retrieved for execution at a later time.2. The method of wherein a local coordinate system is referenced to the global machine coordinate system via at least one other local coordinate system.3. The method of wherein the received plurality of positions to be approached by the end effector in respective local coordinate systems further includes the position of at least one obstacle to be bypassed by the end effector in a ...

Person support apparatus with actuator brake control

A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold.

Petri Net-based Scheduling of Time Constrained Single-arm Cluster Tools with Wafer Revisiting

It is very difficult to schedule a single-arm cluster tool with wafer revisiting such that wafer residency time constraints are satisfied. The present invention conducts a study on this challenging problem for a single-arm cluster tool with atomic layer deposition (ALD) process. With a so called p-backward strategy being applied, a Petri net model is developed to describe the dynamic behavior of the system. Based on the model, existence of a feasible schedule is analyzed, schedulability conditions are derived, and scheduling algorithms are presented if there is a schedule. A schedule is obtained by simply setting the robot waiting time if schedulable and it is very computationally efficient. The obtained schedule is shown to be optimal. Illustrative examples are given to demonstrate the proposed approach. 2. The method of claim 1 , further comprising: determining a production cycle of the system.3. The method of claim 1 , wherein the determination of the robot waiting time is based on a Petri Net model.4. The method of claim 1 , wherein the h is 2.6. The non-transitory computer-readable medium of claim 5 , wherein the method further comprises: determining a production cycle of the system.7. The non-transitory computer-readable medium of claim 5 , wherein the determination of the robot waiting time is based on a Petri Net model.8. The non-transitory computer-readable medium of claim 5 , wherein the h is 2. A portion of the disclosure of this patent document contains material, which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever.This application claims the benefit of U.S. Provisional Patent Application No. 62/221,028, filed on Sep. 20, 2015, which is incorporated by reference herein in its entirety.The present invention relates ...

SYSTEM AND METHOD FOR CONTROLLING THE ACTUATION OF WING SECTIONS OF AN IMPLEMENT DURING AN UNFOLDING OPERATION

A method for controlling the actuation of wing sections of an agricultural implement may include regulating a supply of hydraulic fluid to a wing actuator coupled to a wing section to pivot the wing section relative to a center frame section of the implement from a transport position towards a work position. The method may also include monitoring a wheel load associated with at least one wheel of the wing section as the wing section is being moved towards the work position and detecting when the wheel(s) of the wing section contacts the ground based at least in part on the monitored wheel load. In addition, the method may include adjusting one or more flow parameters of the supply of hydraulic fluid to the wing actuator to reduce an actuation rate at which the wing section is being pivoted after detecting that wheel(s) has contacted the ground. 1. A method for controlling the actuation of wing sections of an agricultural implement during an unfolding operation , the method comprising:regulating, with one or more computing devices, a supply of hydraulic fluid to a wing actuator coupled to a wing section of the agricultural implement to pivot the wing section relative to a center frame section of the agricultural implement from a transport position towards a work position;monitoring, with the one or more computing devices, a wheel load associated with at least one wheel of the wing section as the wing section is being moved towards the work position;detecting, with the one or more computing devices, when the at least one wheel of the wing section contacts the ground based at least in part on the monitored wheel load; andafter detecting that the at least one wheel has contacted the ground, adjusting, with the one or more computing devices, one or more flow parameters of the supply of hydraulic fluid to the wing actuator to reduce an actuation rate at which the wing section is being pivoted relative to the center frame section.2. The method of claim 1 , further ...

OBJECT ATTACHMENT CONTROL METHOD, ATTACHING MACHINE AND STORAGE MEDIUM

Disclosed are an object attachment control method, attaching machine and storage medium, the object attachment control method comprising the following steps: acquiring the attachment precision values of predetermined number of objects; calculating attachment compensation amounts according to the attachment precision values and a preset standard value; and correcting the attachment precision values of corresponding objects to be attached according to the attachment compensation amounts. 1. An object attachment control method , comprising the following steps:acquiring the attachment precision values of predetermined number of objects;calculating attachment compensation amounts according to the attachment precision values and a preset standard value; andcorrecting the attachment precision values of corresponding objects to be attached according to the attachment compensation amounts.2. The object attachment control method according to claim 1 , wherein the step of acquiring the attachment precision values of predetermined number of objects comprises:using a programmable logic controller program to acquire the attachment precision values of predetermined number of objects.3. The object attachment control method according to claim 1 , wherein before the step of acquiring the attachment precision values of predetermined number of objects claim 1 , the method further comprises:acquiring the attachment precision values of all the objects; andfiltering and screening the attachment precision values of all the objects, and acquiring the attachment precision values in a preset specification value range.4. The object attachment control method according to claim 1 , wherein the step of acquiring the attachment precision values of predetermined number of objects comprises:using a programmable logic controller program to acquire the attachment precision values of predetermined number of objects;before the step of acquiring the attachment precision values of predetermined number of ...

PERSON SUPPORT APPARATUS WITH ACTUATOR BRAKE CONTROL

A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold. 1. A person support apparatus comprising:a support surface adapted to support a person thereon;an actuator adapted to move a first component of the person support apparatus with respect to a second component;a motor adapted to drive the actuator; anda control system adapted to brake the motor, the control system further being adapted to:(1) detect a voltage across terminals of the motor when the control system brakes the motor;(2) compare a quantity based on an amplitude of the detected voltage, a duration of the detected voltage, or combination thereof to a threshold; and(3) if the quantity exceeds the threshold, issue a notification to the user that a potential error has been detected.2. The person support apparatus of wherein the control system is further adapted to compare the quantity to a second threshold and claim 1 , if the quantity exceeds the second threshold claim 1 , to stop further operation of the motor.3. The person support apparatus of wherein the first component is a backrest adapted to pivot to different angular orientations claim 1 , wherein the backrest includes a control panel mounted to a side of the backrest claim 1 , and wherein the notification ...

SYSTEMS AND METHODS FOR PREVENTING TOOL DAMAGE IN A COMPUTER CONTROLLED RESURFACING MACHINE

A systems and methods for preventing tool damage in a computer controlled machining apparatus is provided. Conventional CNC machining apparatuses do not provide techniques for checking whether tool movement will interfere with one or more surfaces of the workpiece to be machined. The systems and methods carried out by the systems described herein address at least these deficiencies by providing a “crash test” or tool damage prevention routine that tests whether or not damage may occur based on a contact with the workpiece. 1. A computer implemented method for resurfacing at least one surface of a workpiece with a tool , comprising:moving the tool to a first position;moving the tool from the first position to one or more test positions, the one or more test positions associated with the at least one surface of the workpiece;determining if tool damage will occur based on the movement of the tool from the first position to the one or more test position;if it is determined that tool damage will occur, stop movement of the tool;if it is determined that tool damage with not occur, resurface the at least one surface of the workpiece.2. The computer implemented method of claim 1 , further comprisingdisplaying an error message if it is determined that tool damage will occur.3. The computer implemented method of claim 1 , wherein said determining if tool damage will occur includesdetermining if the tool contacted the workpiece when the tool is moved from the first position to the one or more test positions.4. The computer implemented method of claim 3 , wherein said determining if the tool contacted the workpiece when the tool is moved from the first position to the one or more test positions includesmonitoring one or more load sensors configured to sense load of one or more respective motors associated with the tool, the one or more motors configured to move the tool from the first position to the one or more test positions.5. The computer implemented method of claim 4 , ...

Robot for generating body motion corresponding to sound signal

A robot includes a storage unit, a receiving unit, a central control unit, and an implementation unit. The storage unit is used for storing a body motion script database. The receiving unit is used for receiving a sound signal. The central control unit is used for outputting a motion arrangement description file according to the messages of the sound signal, reading a corresponding body motion script from the body motion script database according to the motion arrangement description file, and generating a motion arrangement command according to the body motion script. The implementation unit includes a control circuit and a driving device. The control circuit is used for generating a control signal in response to the motion arrangement command. According to the control signal, the driving device is controlled to drive at least one moving part of the robot to generate a corresponding body motion according to the sound signal.

State change management system for manufacturing cell in cell control system

A state change management system of a manufacturing cell in a cell control system receives, from the manufacturing cell, event information items in different forms generated in multiple manufacturing machines constituting a manufacturing cell, via a communication device, to thereby monitor the changes in the states of the multiple manufacturing machines. Moreover, the state change management system converts the received event information items in the different forms into a standardized form, and outputs the event information items in the standardized form to a production planning device that performs production planning of a product manufactured by the manufacturing cell via the communication device.

FACEPLATE SWITCH

Devices, systems, and methods for modifying an existing electrical circuit to enable a conventional mechanical switch to integrate with and operate smart devices, while also providing continuous power supply and cooperating with external operation of the smart devices (e.g., via a mobile device application, smart controller, etc.). The smart device thus is operable both via the physical switch and via a home automation system, without loss of power to the smart device computer and transmitter components caused by use of the wall switch. This may be done via a replacement switch or faceplate which effectively bypasses the physical switch to ensure continuous power to the smart device while also inferring and transmitting the toggle state of the switch by measuring an amount of current through the faceplate. 1. A smart device comprising:an electrical switch faceplate;two or more electrical leads extending from said faceplate;said electrical leads in contact with two or more electrical connection points on a mechanical switch;said smart device providing an electrically contiguous path between said two or more electrical leads;said contiguous path ensuring that the electrical contacts in the mechanical switch which are part of the switching circuit are electrically connected regardless of the mechanical switch position;at least one current sensor disposed on said contiguous path; anda transmitter in electrical communication with said current sensor(s) and configured to receive from said current sensor(s) a measure of an amount of current on said contiguous path;wherein said transmitter receives reading from said current sensor(s) and transmits information about the state of the switching system.2. The smart device of claim 1 , further comprising:a controller in electrical communication with said transmitter and said current sensor(s), said controller configured to:operate said current sensor(s) to measure current passing through said smart device;provide said measured ...

CAD-BASED DESIGN CONTROL

Exemplary embodiments relate to methods, mediums, and systems for associating information, including critical-to-quality (CTQ) information such as minimum or maximum part dimensions, with parts in a three-dimensional model of a product. The information may be identified by performing a failure mode effect analysis (FMEA) against the model. The information is stored with the model data (e.g., in the form of an annotation applied to a model feature corresponding to the part in question). The model data may be consulted by product lifecycle management (PLM) applications during various phases of the product's lifecycle. Among other possibilities, the information may be used to automatically generate regulatory compliance documentation, to ensure product quality standards are met during a manufacturing process, or to perform postproduction quality monitoring of the product. 1accessing, using modeling logic executing on a processor circuit, a three-dimensional model of a product, the three-dimensional model comprising a feature representing a part of the product, the three-dimensional model associated with model data stored in a non-transitory storage medium, the model data comprising a data structure representing the feature that includes a list of quality characteristics;receiving an instruction to associate a quality characteristic with the feature;storing the quality characteristic in the data structure representing the feature in the model data, the storing comprising constructing a structured data element holding the quality characteristic and adding the structured data element to the list of quality characteristics in the feature's data structure; andapplying the quality characteristic through at least one post-design phase of a product lifecycle management process, the applying comprising programmatically retrieving the quality characteristic from the data structure representing the feature, and operating on the quality characteristic with an electronic device ...

System And Method Of Connection Management During Synchronization Of High Availability Industrial Control Systems

An industrial controller executes a control program held in non-transitory medium to: (a) open connections for the communication of data on the industrial control network, the connection subject to a timeout; (b) operate in a synchronized state with the second industrial controller to execute a same control program to communicate same control data; (c) operate in an unsynchronized state providing no-operation data to the industrial control network, the no-operation data preventing timeout of the open connections on which it is communicated.

SYSTEMS AND METHODS FOR MODIFYING MATERIAL SUBSTRATES

A system includes a computing device that generates at least one process script for the modification to a material substrate and at least one pattern script that corresponds to the process script. The computing device also merges the process script with the pattern script and generates a plurality of command signals that are based on the merged process and pattern scripts. An energy source generates a plurality of light beams based on the generated command signal(s). At least one modulating component modulates the generated light beams based on generated command signal(s). A waveform apparatus generates at least one waveform signal to customize the generated light beams based on the generated command signal(s). A motion control apparatus controls at least one parameter of the light beams based on the generated command signal(s). 1. A system for modifying at least one material substrate , said system comprising: generate at least one process script for the modification to the at least one material substrate,', 'generate at least one pattern script that corresponds to the at least one process script, for the modification to the at least one material substrate;', 'merge the generated at least one process script with the corresponding generated at least one pattern script;', 'generate a plurality of command signals that are based on the merged generated at least one process script and the corresponding generated at least one pattern script; and, 'a computing device configured toan energy source configured to couple to said computing device, wherein said energy source is further configured to generate a plurality of light beams based on at least one of the generated plurality of command signals;at least one modulating component configured to couple to said computing device and said energy source, wherein said at least one modulating component is further configured to modulate the generated plurality of light beams based on at least one of the generated plurality of ...

STABILIZATION SYSTEM FOR ROBOTIC TECHNOLOGY

A motor control system to be applied to robotic technology, the motor control system comprising at least two actuators that each include a first receiver and a second receiver. The system is comprised of a movement control system that communicates a first signal to the first receivers, the first signal indicative of a movement profile; and a stabilization control system that communicates a second signal to the second receivers, the second signal indicative of a stabilizing profile. The stabilizing profile produces mechanical forces that are to some degree antagonistic to the mechanical forces of the movement profile, and the actuators are mechanically arranged in a way that such antagonism can take place. The function of the stabilization system may include controlling overall stability, local stability, and/or local accuracy/precision/speed of movement, and may be implemented on a feedforward and/or feedback basis. 1. A motor control system to be applied to robotic technology , the motor control system comprising:at least two actuators each including a first receiver and a second receiver, and mechanically arranged to provide antagonistic forces;a movement control system communicating a first signal to the first receivers, the first signal indicative of a movement profile that produces mechanical movement forces; anda stabilization control system communicating a second signal to the second receivers, the second signal indicative of a stabilizing profile that produces mechanical stabilizing forces that are antagonistic to the mechanical movement forces, the stabilizing profile does not require exact calculation of movement errors or stability errors, but can make use of knowing such errors if this information is available.2. The motor control system of claim 1 , wherein the movement control system and the stabilization control system are discrete and are not summed prior to communication with the actuator.3. The motor control of claim 2 , wherein the summation ...

METHOD FOR SUPPORTING OPERATING AND CHANGEOVER PROCESSES

A method and a corresponding device for supporting operating and/or changeover processes for a machine, in particular product type changeovers in the beverage processing industry. The method includes the creation of a description of the changeover process which can comprise a plurality of sub-steps, the processing of individual sub-steps, and the storing of the changeover process and/or the processed sub-steps. 1. A method for supporting operating and/or changeover processes for a machine , the method executed by one or more processors programmed to perform the method , the method comprising:creating, by the one or more processors, a description of the operating and/or changeover process which can comprise a plurality of sub-steps;processing, by the one or more processors, individual sub-steps; andstoring, by the one or more processors, the operating and/or changeover process and/or the processed sub-steps.2. The method according to claim 1 , and at least one of the steps creating claim 1 , processing claim 1 , storing is carried out at least in part with the help of a mobile device.3. The method according to claim 1 , and one or plural operating and/or changeover processes and/or sub-steps are selected among a number of presets which conform to already preset operating and/or changeover processes and/or preset sub-steps or comprise the same and are stored in a central database.4. The method according to claim 1 , and the step creating a description further comprises:creating, by the one or more processors, a digital image and/or video of the location at which the operating and/or changeover process and/or the sub-step is performed;creating, by the one or more processors, a digital image and/or video of the course of action of the operating and/or changeover process and/or the sub-step;creating, by the one or more processors, a creation instruction of the operating and/or changeover process and/or of the sub-step;storing, by the one or more processors, additional ...

Method of Machining Workpiece Using Machine Tool, and Machine Tool

A machine tool includes a bed supported on a ground by supporting jigs, a table movable in an X-axis direction, a spindle head movable in a Y-axis direction, a quill provided to be movable in a Z-axis direction, a spindle supported by the quill to be rotatable about its axis, feed mechanisms for moving the table and the like in the axis directions, and a numerical controller controlling operation of the feed mechanisms, and the numerical controller is configured to calculate motion errors based on load values acting on the supporting jigs by a motion locus estimator, an influence coefficient storage, a motion error calculator, and a motion locus storage, generate a correction signal for compensating for the motion errors by a position corrector, and add the generated correction signals to a position control signal transmitted from a position generator to a position controller. 1. A method of machining a workpiece with a machine tool supported by a plurality of supporting jigs having an adjusting mechanism for adjusting a vertical support position and a load cell detecting a support load , comprising:estimating, based on the support loads detected by the load cells of the supporting jigs, a motion locus of relative motion of a tool attached to the machine tool and the workpiece;calculating motion errors between the estimated motion locus and a preset reference motion locus at predetermined intervals in a motion direction;correcting the relative motion of the tool and the workpiece based on the calculated motion errors so as to compensate for the motion errors, and then machining the workpiece; andemitting an alarm at least when a maximum value of the calculated motion errors exceeds a predetermined reference value or when a variation value of the motion errors in the motion direction exceeds a predetermined reference value.2. The workpiece machining method using the machine tool according to claim 1 , wherein:a relational equation between support loads acting on the ...

METHOD FOR THE CONTROLLED CHANGEOVER OF A TREATMENT MACHINE

Method for controlled changeover of a container treatment machine having a plurality of RFID reading devices, a control unit and one or more treatment modules, every treatment module having a plurality of remote indicators, and one or more exchangeable handling parts equipped with RFID transponders for unambiguous identification, including displaying, via the remote indicators, predetermined target identifiers for the handling parts which are transmitted by the control unit; displaying, via the remote indicators, actual identifiers for the handling parts that are retrieved from the RFID transponders via the RFID reading devices; comparing respective actual identifiers for the handling parts with respective target identifiers therefor, and signaling when a change of the handling part is required if the actual identifier deviates from the respective target identifier, or signaling that a handling part is correctly used if the actual identifier corresponds to the respective target identifier. 1. A method for the controlled changeover of a treatment machine having a plurality of RFID reading devices , a control unit and one or more treatment modules , each treatment module having a plurality of remote indicators and one or more exchangeable handling parts which are provided with RFID-transponders for unambiguous identification , comprising:{'b': '105', 'displaying (S) predetermined target identifiers transmitted by the control unit for the handling parts by means of remote indicators;'}{'b': '115', 'displaying (S) actual identifiers retrieved from the RFID transponders by means of the RFID reading devices for the handling parts by means of the remote indicators;'}{'b': '120', 'comparing (S) the respective actual identifiers of the handling parts with the corresponding target identifiers of the handling parts and'}{'b': 130', '125, 'signaling (S) when a change of a handling part is required if for said handling part the actual identifier deviates from the corresponding ...

RISING AND LOWERING METHOD AND APPARATUS AND COMPUTER READABLE STORAGE MEDIUM

Provided is a rising and lowering method and apparatus and a computer readable storage medium. The rising and lowering method is used to adjust the distance between a panel and an electrode that are spaced apart from and parallel with each other. The method includes steps of: detecting a position of a geometric center of a panel and manipulating geometric center to move along a first direction by a first predetermined distance, wherein the first direction is perpendicular to a direction of panel; and setting up a first area and a second area which are symmetrical with respect to geometric center on panel, and manipulating first area and second area to move along a first direction by a second predetermined distance. The first predetermined distance is not equal to second predetermined distance. The invention can suppress the occurrence of warp on panel and ensure the panel to endure uniform force. 1. A rising and lowering method for adjusting the distance between a panel and an electrode , wherein the panel and the electrode are spaced apart from and parallel with each other , the rising and lowering method comprising the steps of:detecting a position of a geometric center of the panel and manipulating the geometric center to move along a first direction by a first predetermined distance, wherein the first direction is perpendicular to a direction of the panel; andsetting up a first area and a second area on the panel, both of which are symmetrical with respect to the geometric center, and manipulating the first area and the second area to move along the first direction by a second predetermined distance, wherein the first predetermined distance is not equal to the second predetermined distance.2. The rising and lowering method according to claim 1 , wherein:when the first direction is the direction of which the panel approaches the electrode, the first predetermined distance is longer than the second predetermined distance, and wherein the geometric center is ...

Teleoperation System With Visual Indicator and Method of Use During Surgical Procedures

Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is configured to be operated in a first mode or a second mode. In the first mode, the surgical tool is placed in a desired pose with respect to a target region in response to a manual force applied to the slave device. In the second mode, the surgical tool is manipulated during the surgical procedure in response to movement of the master input device by the user. A visual indicator is coupled to the surgical tool or the slave device to emit light in the second mode to provide visual information to the user in the second mode.

PERSON SUPPORT APPARATUS WITH ACTUATOR BRAKE CONTROL

A person support apparatus includes one or more motorized actuators that are braked in different manners depending upon whether or not electrical power is available to the control system. When electrical power is not available, a delay circuit delays closing a first switch that, when closed, short circuits the terminals of one of the motors. When power is available, other switches are opened and closed in a manner that short circuits the terminals of the motor while the first switch remains open. The other switches may be part of an H-bridge. The control system may also detect back emf (electromotive force) generated by the motor when electrical power is available and issue a notification to a technician or other user if an amplitude and/or duration of the detected back emf exceeds a threshold. 1. A person support apparatus comprising:a support surface adapted to support a person thereon;an actuator adapted to move a first component of the person support apparatus with respect to a second component;a motor adapted to drive the actuator; anda control system adapted to brake the motor, the control system further being adapted to:(1) detect a voltage across terminals of the motor when the control system brakes the motor;(2) compare a quantity based on an amplitude of the detected voltage, a duration of the detected voltage, or combination thereof to a threshold; and(3) if the quantity exceeds the threshold, use the quantity to estimate how far the first component has moved while the motor was braked.2. The person support apparatus of wherein the first component is a backrest adapted to pivot to different angular orientations.3. The person support apparatus of wherein the control system brakes the motor by short circuiting terminals of the motor.4. The person support apparatus of wherein the control system is adapted to short circuit terminals of the motor in a first manner using a plurality of switches and in a second manner using a switch different from the plurality ...

Control device for machine tool

In order to facilitate reuse of an NC program for operation that has been executed in the past, this control device for a machine tool that drives the machine tool by executing an NC program is provided with: a first program storage unit that identifies an NC program for machining using a program name or program number and stores said program; a second program storage unit that stores an NC program for operation each time an operator executes an NC program for operation that is input manually; and a display unit that lists a plurality of NC programs for operation stored in the second program storage unit and displays said programs.

Blender for Food and Beverages

A motorised kitchen apparatus including a processor module coupled to a non-volatile storage medium for storing a custom sequence; a user interface having a speed or power selection element and a record selector; a motor controller coupled to a blender motor, the processor module coupled to the motor controller for controlling operation of the motor according to user input selections. Upon user selection of the record selector, the processor module enters a record mode and records a sequence of user inputs made through the user interface; the sequence including data indicative of a power profile selected by the user over a period of time, and upon completion of the record mode, the processor module saves a custom sequence indicative of the recorded sequence to the non-volatile storage medium for subsequent playback. 1. A motorised kitchen apparatus including:a processor module, coupled to a non-volatile storage medium for storing a custom sequence;a user interface having a speed selection element and a record selector;a motor controller coupled to a blender motor, the processor module coupled to the motor controller for controlling operation of the motor according to user input selections;wherein upon user selection of the record selector, the processor module enters a record mode and records a sequence of user inputs made through the user interface; the sequence including data indicative of a speed profile selected by the user over a period of time, and upon completion of the record mode, the processor module saves a custom sequence indicative of the recorded sequence to the non-volatile storage medium for subsequent playback.2. The apparatus according to claim 1 , wherein the processor module in record mode records a time sampled sequence of user input of speed selection element.3. The apparatus according to claim 1 , wherein the processor module in record mode monitors changes in user input of the speed selection element claim 1 , recording a speed value and ...

MANUFACTURING MANAGEMENT SYSTEM CAPABLE OF IMPROVING AVAILABILITY RATIO OF MANUFACTURING CELL

A manufacturing management system capable of appropriately evaluating a degree of consumption of each component of a manufacturing machine, and efficiently operating a manufacturing cell including the manufacturing machines. A control unit of a cell controller has: a manufacturing machine information receiving part configured to receive manufacturing machine information regarding an operational history of each component constituting the manufacturing machine; a component degree of consumption calculating part configured to calculate a weighed degree of consumption of each component, based on the manufacturing machine information and a predetermined weight of each component; a manufacturing machine degree of consumption calculating part configured to calculate a degree of consumption of each manufacturing machine, based on the weighed degree of consumption of each component; and a manufacturing machine selecting part configured to select a manufacturing machine to be used in the manufacturing cell, based on the degree of consumption of each manufacturing machine. 1. A manufacturing management system for managing a manufacturing cell including a plurality of manufacturing machines , based on production schedule information from a production scheduling device , the manufacturing management system comprising:a manufacturing machine information receiving part configured to receive manufacturing machine information regarding an operational history of each of components constituting the manufacturing machine;a component degree of consumption calculating part configured to calculate a weighed degree of consumption of each component, based on the manufacturing machine information and a predetermined weight of each component;a manufacturing machine degree of consumption calculating part configured to calculate a degree of consumption of each of the manufacturing machines, based on the weighed degree of consumption of each component calculated by the component degree of ...

NUMERICAL CONTROLLER OPERATING BASED ON TABULAR DATA

A numerical controller controls a position of a control axis in synchronization with a reference value by using tabular data. When the numerical controller sequentially reads a command block from the tabular data and analyzes the command block so as to acquire a reference value and a coordinate value of a control point, the numerical controller outputs a reference value of the control point, which is shifted based on a shift amount specified by a shift command, in command blocks subsequent to the command block which includes the shift command, in a case where the shift command for shifting a reference value is included in the read command block. 1. A numerical controller which controls a position of a control axis in synchronization with a reference value by using tabular data for instructing a position of each control axis based on the reference value which is a time , a position of an axis , or a position of a spindle , the numerical controller comprising:a read unit which sequentially reads a command block from the tabular data and analyzes the command block so as to acquire and output a reference value and a coordinate value of a control point;a reference value analysis unit which makes, if a command block read by the read unit includes a shift command for shifting a reference value, the shift of reference value valid in command blocks subsequent to the command block, and outputs the reference value of the control point which is shifted based on a shift amount specified by the shift command; anda distribution processing unit which produces a movement amount for an axis to be controlled by the tabular data, based on the reference value outputted by the reference value analysis unit and the coordinate value of the control point outputted by the read unit; wherein the reference value analysis unit is configured to directly output the reference value of the control point which is outputted by the read unit if the shift of a reference value is invalid.2. The ...

Cell controller for optimizing motion of production system including industrial machines

A cell controller capable of optimizing the operation of a production system having a plurality of industrial machines operated by an operation program. The cell controller includes: a system operational information analyzer configured to analyze time-series operational information received from the industrial machines via a network, so as to find a part in the system which generates an adverse effect on a cycle time of the entire production system; a state quantity analyzer configured to analyze a state quantity of the industrial machines so as to calculate a degree of margin of motion of each industrial machine; a program modifier configured to automatically modify a velocity or acceleration in the operation program based on the degree of margin; and a simulator configured to execute an operational simulation of the production system in order to confirm a modification result of the operation program.

Systems and Methods For Detecting Anomalous Software on a Programmable Logic Controller

There is provided a method including: during a training period, collecting a plurality of scan cycle times of a programmable logic controller (PLC) program executing on a PLC; calculating one or more baseline parameters based on the plurality of scan cycle times; determining a baseline PLC program signature based on the one or more baseline statistical parameters; and storing the baseline PLC program signature. 1. A method comprising:during a training period, collecting one or more scan cycle times of a programmable logic controller (PLC) program executing on a PLC;calculating one or more baseline parameters based on one or more of the scan cycle times; a first portion representing commonly executed program paths and determined based on one or more of the baseline parameters; and', 'a second portion representing undetected program paths and determined based on one or more of the calculated scan cycle times of the PLC program; and, 'determining a baseline PLC program signature comprisingstoring the baseline PLC program signature.2. The method of claim 1 , wherein one or more baseline parameters are derived from at least one from among statistical analysis claim 1 , machine learning claim 1 , or data science techniques.3. The method of further comprising:providing a proof of work function to the PLC; andreceiving, from the PLC, an indication of progress of the proof of work function executed by the PLC.4. The method of claim 1 , wherein the scan cycle times are estimated based on a scan cycle counter running on the PLC.5. The method of claim 1 , wherein the baseline PLC program signature is further based on a calculated scan cycle time based on known execution times for one or more instructions of the PLC program.6. (canceled)7. A method comprising:during operation of a programmable logic controller (PLC), collecting one or more scan cycle times of a PLC program executing on the PLC; calculating a cumulative difference between one or more scan cycle times and the mean ...

Production schedule creating method and production schedule creating apparatus

A production schedule creating method includes: a schedule information acquiring step of acquiring production schedule information including a production sequence for producing a plurality of models of products, a commenceable time point, and a production deadline time point; a preparation time calculating step of calculating a preparation time taken for arrangement work of arranging members on arrangement means, for each of a plurality of models; a production time point calculating step of calculating a production commencing time point and a production end time point for each of the plurality of models; a schedule satisfaction determining step of determining whether or not a schedule satisfying condition is satisfied, for each of the plurality of models; and a sequence changing step of changing a sequence for producing an unsatisfied model that does not satisfy the schedule satisfying condition, in a case where the unsatisfied model is present.

CONTROL DEVICE FOR A MACHINE TOOL

A control apparatus for controlling a machine tool on the basis of a machining program is provided with a program analysis unit which analyzes an input machining program, a process table creation unit which, on the basis of the results of the analysis by the program analysis unit, creates a process table that sequentially lists processes according to the execution flow of the machining program, and a display unit which displays the process table created by the process table creation unit. 1. A control device for controlling a machine tool based on a machining program , characterized by:a program analyzing section for analyzing a machining program which has been input;a process chart creating section for creating a schedule by arranging the respective processes of a machining program in the execution sequence of the machining program, based on the results of the analysis conducted by the program analyzing section; anda displaying section for displaying the schedule created by the process chart creating section.2. The control device according to claim 1 , further comprising an input section claim 1 , the machining program being input through the input section along with tool data and workpiece data.3. The control device according to claim 1 , wherein the schedule includes paragraphs separated based on the tool change or the machined surfaces.4. The control device according to claim 1 , wherein the schedule includes information in relation to the tool type claim 1 , the subprogram claim 1 , the angle of the machined surface claim 1 , the designation of coordinate system claim 1 , the spindle rotational speed claim 1 , the cutting feed speed claim 1 , the tool length correcting value and the tool diameter correcting value.5. The control device according to claim 4 , wherein an error is indicated when the information relative to the tool type claim 4 , the subprogram claim 4 , the angle of the machined surface claim 4 , the designation of the coordinate system claim 4 , ...

SYSTEM AND METHOD FOR SCHEDULING AN AUTOMATION PROCESS CONTROLLING A MACHINE

A system and a method for scheduling an automation process controlling a machine. The system including a parser module for parsing calendar data, the calendar data comprising calendar events including clock data and task data. The system further including a clock module for monitoring time instances and triggering the parser module to parse the calendar data to retrieve the task data of a calendar event that is identified by clock data corresponding to a time instance; and a task module for processing the task data of the calendar event to obtain machine control data for execution on a machine. 1. System for scheduling an automation process controlling a machine , comprising:a parser module for parsing calendar data, the calendar data comprising calendar events including clock data and task data;a clock module for monitoring time instances and triggering the parser module to parse the calendar data to retrieve the task data of a calendar event that is identified by clock data corresponding to a time instance;a task module for processing the task data of the calendar event to obtain machine control data for execution on a machine.2. System according to claim 1 , further comprising:a credentials module for managing and authenticating user accounts, service accounts, user credentials and service credentials.3. System according to claim 1 , wherein the clock module is arranged for:keeping time independently; and/orretrieving time indications from an external time indicator provider; and/orsynchronizing the time with an external time signal.4. System according to claim 1 , wherein the parser module and/or the credentials module are configured for exchanging calendar data with a client device comprising a calendar view application;wherein the client device includes:a machine user interface, such as SCADA or HMI; and/ora smartphone, tablet or computer.5. System according to claim 1 , wherein the parser module claim 1 , the clock module and the task module are distributed ...

TEMPERATURE CONTROL SYSTEM AND METHODS FOR OPERATING SAME

A method for operating a temperature control system having a cooling system and ventilation system to vent outside air within a structure is disclosed. The method includes monitoring an interior temperature of the structure, monitoring an exterior temperature of ambient air outside of the structure, defining a first time range and a second time range, associating one or more operating parameters of the temperature control system with the first time range, associating one or more operating parameters of the temperature control system with the second time range, monitoring operational time and operational load of the cooling system for the first time range, predicting a space temperature and an outdoor air temperature for a subsequent time period, and controlling the ventilation subsystem during the second time range based upon the monitored operational time and operational load of the cooling subsystem for the first time range, the monitored interior and exterior temperatures, the predicted space temperature, the predicted outdoor air temperature, and the one or more operating parameters of the cooling subsystem associated with the second time range. 1. A method for operating a temperature control system having a ventilation subsystem and a cooling subsystem , the method comprising:monitoring an indoor temperature of a structure;monitoring an outdoor temperature of ambient air outside of the structure;defining a first time range and a second time range, wherein the second time range comprises a duration less than the first time range;associating one or more operating parameters of the ventilation subsystem and the cooling subsystem with the first time range;associating one or more operating parameters of the ventilation subsystem and the cooling subsystem with the second time range;monitoring operational time and operational load of the cooling subsystem for the first time range;predicting a space temperature and an outdoor air temperature for a subsequent time ...

Controlling apparatus

A controlling apparatus is provided. According to an example, the controlling apparatus comprises: an operating body configured to bear acting forces; a mechanical sensing apparatus arranged on a surface of the operating body and configured to sense the acting forces and convert the acting forces into electric signals; and a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control a controlled object to move along a direction of the resultant force of the acting forces.

PRODUCTION PROCESSING APPARATUS, PRODUCTION PROCESSING METHOD, PROGRAM, AND WORK MANUFACTURING METHOD

[Solving Means] A production processing apparatus according to the present technology includes a first robot arm and a plurality of first tilt tables. The first robot arm is capable of conveying a work. On each of the plurality of first tilt tables, the work conveyed by the first robot arm can be mounted. The plurality of first tilt tables are tilted a predetermined angle from a horizontal surface at positions on a circumference of a circle with the first robot arm being a center, and the work is subjected to production processing in a state where the work is mounted on one of the plurality of first tilt tables. 1. A production processing apparatus , comprising:a first robot arm capable of conveying a work; anda plurality of first tilt tables on each of which the work conveyed by the first robot arm can be mounted, the plurality of first tilt tables being tilted a predetermined angle from a horizontal surface at positions on a circumference of a circle with the first robot arm being a center, the work being subjected to production processing in a state where the work is mounted on one of the plurality of first tilt tables.2. The production processing apparatus according to claim 1 , further comprisinga plurality of first horizontal tables on each of which the work conveyed by the first robot arm can be mounted, the plurality of first horizontal tables being parallel to the horizontal surface at positions closer to the first robot arm than the plurality of first tilt tables, the work being subjected to the production processing in a state where the work is mounted on one of the plurality of first horizontal tables.3. The production processing apparatus according to claim 2 , whereinthe plurality of first tilt tables each include a lower-side edge portion, andthe lower-side edge portions are arranged at higher positions than the plurality of first horizontal tables.4. The production processing apparatus according to claim 1 , whereina tilt angle of the plurality of ...

AGGREGATE PROGRAMMING METHOD AND SYSTEM FOR CNC MACHINES

A method and system for aggregate programming a computer numerical control (CNC) machine that includes (a) shifting a control point from an aggregate base point to a center tip of a tool being programmed, thereby enabling tool length and diameter adjustment along with C-axis aggregate rotation during a machine activity. The shifting includes (i) activating a tilted work plane (TWP); and (ii) shifting the control point to the tip of the tool using a tool length compensation. The system and method also include (b) implementing an activity on the CNC machine using the shifted control point and C-axis aggregate rotation. In some cases, activating the TWP comprises using a special machine control code such as g-code G68.2. In some cases, shifting the control point to the tip of the tool using a tool length compensation comprises using a special machine control code such as g-code G43. 1. A method for aggregate programming a computer numerical control (CNC) machine , comprising the steps of:(a) shifting a control point from an aggregate base point to a center tip of a tool being programmed, thereby enabling C-axis aggregate rotation during a machine activity;(b) activating a tilted work plane (TWP);(c) shifting the control point to the tip of the tool using a tool length compensation; and(d) implementing an activity on the CNC machine using the shifted control point and C-axis aggregate rotation.2. The method of claim 1 , wherein activating the TWP comprises using a special machine control code.3. The method of claim 2 , wherein the special machine control code is g-code G68.2.4. The method of claim 1 , wherein shifting the control point to the tip of the tool using a tool length compensation comprises using a special machine control code.5. The method of claim 4 , wherein the special machine control code is g-code G43.6. A system for aggregate programming a computer numerical control (CNC) machine claim 4 , comprising:(a) one or more memory devices; and [ (A) activating ...

System for real-time control of semiconductor wafer polishing including optical monitoring

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, a slurry supply system delivering a slurry to the polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly; and an optical measurement system measuring film thickness at multiple different locations on the wafer face while the wafer is under a liquid, wherein drying of the wafer is avoided while the measurements are taken.

System for real-time control of semiconductor wafer polishing including optical montoring

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, a slurry supply system delivering a slurry to the polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly; and an optical measurement system measuring film thickness at multiple different locations on the wafer face while the wafer is under a liquid, wherein drying of the wafer is avoided while the measurements are taken.

System for real-time control of semiconductor wafer polishing

A system for polishing a semiconductor wafer, the system comprising a wafer polishing assembly for polishing a face of a semiconductor wafer at a polishing rate and a polishing uniformity, the wafer polishing assembly including a platen subassembly defining a polishing area, and a polishing head selectively supporting a semiconductor wafer and holding a face of the semiconductor wafer in contact with the platen subassembly to polish the wafer face; and a controller selectively adjusting one of a plurality of adjustable polishing parameters during polishing of the wafer.

Device and method for controlling a manipulator for a plate bending machine

Mobile Haptic Robots

The present concepts relate to devices that can approximate virtual objects when touched by a user. One example device can include a location assembly configured to sense a location of the device on a surface and configured to move the robotic device on the surface and a shape assembly secured to the location assembly and configured to adjust a height and a pitch of an upper surface of the robotic device. 1. A system , comprising: 'a virtual object for a user;', 'a virtual reality device capable of generating an image comprising'}multiple independently controllable robots; and,a module configured to receive a prediction that the user is reaching for the virtual object at a location, the module configured to identify a subset of the multiple robots to utilize to approximate the virtual object, to cause the subset of the multiple robots to move to the location and to change shape to be engaged by the user based at least in part upon information about the virtual object.2. The system of claim 1 , wherein the virtual reality device comprises a virtual headset and wherein the virtual headset includes the module.3. The system of claim 1 , further comprising a computer that includes the module and is configured to communicate with the virtual reality device and the multiple independently controllable robots.4. The system of claim 1 , wherein each robot includes a location assembly configured to move the robot and a shape assembly configured to change the shape of the robot.5. The system of claim 4 , wherein the location assembly includes a sensor and further comprising a guidance mechanism covering an array of locations and wherein the location assembly can determine a location of the robot by sensing the guidance mechanism.6. The system of claim 4 , wherein the shape assembly can adjust a height of the robot claim 4 , a slope of an upper surface of the robot claim 4 , or a width of the robot.7. The system of claim 6 , wherein each robot includes electromagnets and wherein ...

Neural monitor-based dynamic haptics

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Haptic guidance system and method

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Neural monitor-based dynamic haptics

A surgical system includes a robotic device, and a surgical tool coupled to the robotic device and comprising a distal end. The system further includes a neural monitor configured to generate an electrical signal and apply the electrical signal to the distal end of the surgical tool, wherein the electrical signal causes innervation of a first portion of a patient's anatomy which generates an electromyographic signal, and a sensor configured to measure the electromyographic signal. The neural monitor is configured to determine a distance between the distal end of the surgical tool and a portion of nervous tissue based on the electrical signal and the electromyographic signal, and cause feedback to be provided to a user based on the distance.

Haptic guidance system and method

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Neural monitor-based dynamic haptics

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Apparatus and method for haptic rendering

In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

Teleoperation system with visual indicator and method of use during surgical procedures

Teleoperation systems and methods for use during a surgical procedure. The teleoperation system comprises a surgical tool and a master input device for being moved by a user. A slave device is coupled to the surgical tool and responsive to movement of the master input device. The slave device is configured to be operated in a first mode or a second mode. In the first mode, the surgical tool is placed in a desired pose with respect to a target region in response to a manual force applied to the slave device. In the second mode, the surgical tool is manipulated during the surgical procedure in response to movement of the master input device by the user. A visual indicator is coupled to the surgical tool or the slave device to emit light in the second mode to provide visual information to the user in the second mode.

Apparatus and method for haptic rendering

In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

Neural monitor-based dynamic boundaries

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic aim. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic aim resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

System and method for performing surgical procedure using drill guide and robotic device operable in multiple modes

System and method for performing a surgical procedure using a drill guide and a robotic device operable in multiple modes. The drill guide is mechanically coupled to the robotic device. A pre-defined virtual trajectory constrains movement of the drill guide. In a first mode, a user is able to manually manipulate the drill guide while movement of the drill guide is constrained by the pre-defined virtual trajectory. In a second mode, the robotic device operates autonomously, for instance, to perform service on the robotic device.

Haptic guidance system and method

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Haptic guidance system and method

A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.

Haptic guidance method

A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.

Haptic guidance system and method

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.

Haptic guidance system and method

A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.

Haptic guidance system and method

A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.

Surgical guidance system and method with acoustic feedback

A surgical system includes a surgical tool, a tracking system configured to obtain tracking data indicative of positions of the surgical tool relative to an anatomical feature, an acoustic device, and a computer system programmed to control the acoustic device to provide acoustic feedback to a user based on the tracking data.

Digital servo valve system

A novel digital servo valve system for use in displacing an actuator is capable of operating either in closed or open loop mode. The system includes a controller that compares computed values of actuator parameters with preselected parameter values and iteratively determines therefrom command signals for the servo valve. The servo valve is characterized by a ball screw mechanism that eliminates mechanical backlash and a torsion bar which increases radial and angular compliance. A servo valve provided according to the present invention also displays reduced flow forces using a simple, inexpensive valve body in combination with a uniquely configured displaceable spool.

数値制御装置

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Programmable multiple position machine

A method and apparatus for electronically controlled movement and positioning. The method includes encoding absolute position signals, reading out digital velocity signals from a memory responsive to the absolute position signals in accordance with a velocity-position profile, converting the digital velocity signals to analog signals and scaling the analog signals so that they may be used to drive a motor. The apparatus is a programmable electronic controller which performs the method.

Cnc acceleration/deceleration controller and method

Method and device for determining emerging risks of a technical system

Synchronized teaching of a robot cell

The invention relates to a method of controlling the movements of a robot and a workpiece manipulator during the teaching of the robot cell. To achieve synchronized teaching of the robot cell the method comprises driving one cell component, that is, the robot (2) or the workpiece manipulator (1), to a position required by the following point (P3) to be taught, the other component following synchronously the moved one so that the position of the robot tool remains unchanged with respect to the workpiece; driving the other cell component, from the position of the point (P1) taught first to the following point (P3), corresponding to the position of the other component, and storing the coordinates of said point in the memory; and repeating said steps to teach all the required points of the paths to be taught.

System for controlling parameter

本发明涉及一种控制参数的系统，通过使用可编程控制装置来给所述参数编程。根据本发明的系统包含画图设备(102、103、104)，其使用户可以创建一个图画。该系统进一步包含用于把图画转换为所述参数程序的设备(101)。

Method for controlling an automated work cell

本发明涉及一种控制自动化工作单元的方法，包括：由多个控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)控制的具有至少三个自由度的至少一个机器人手臂(4)；控制中心(8)；机器人手臂(4)的控制装置(6)，包括多个电动机控制器(61至66)，控制能够操纵至少部分的机器人手臂(4)的电动机(M1至M6)的运行；用于控制中心(8)和机器人手臂(4)的控制装置之间通信的总线(14)，该方法包括以下步骤：a)将机器人手臂(4)的每个运动控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)与假设的用于接收指令并根据这些指令来控制至少一个电动机的假想的轴控制器相关联；b)在控制中心(8)为机器人手臂(4)的每个运动控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)确定用于与这些轴中的每一个对应的假想的轴控制器的指令(C 1i )；c)将在步骤b)中确定的指令(C 1i )传送至属于机器人手臂(4)的控制装置(6)的仅有的一个计算单元(10)。

Forming method of part program

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Articulated robot teaching method

Numerical controller

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Device and method for controlling the course of a process in the production of parts

本发明涉及一种用于在制造装置（12）内的工具（11）中制造零部件（2）时控制处理过程的装置，包括：在工具（11）上的传感器（3），用于在制造过程期间检测测量值（4）；和数据处理设备（8），其包括用于读入并显示所检测的测量值（4）的显示器（6）；以及与数据处理设备（8）相连的输出装置（5）。用户可向数据处理设备（8）中输入一个或多个目标参数（9）。在该数据处理设备（8）中，可以基于对目标参数（9）和所检测的测量值（4）的分析确定输出量（10），该输出量可经由输出装置（5）传输至制造装置（12），用于控制处理过程。根据本发明，所述一个或多个目标参数（9）可由用户以模拟的方式读入。本发明还涉及一种可在根据本发明的装置（1）上实施的相应的方法。

Honing machine

Adaptive PI Control Method

제어대상에 파라미터 변동이 있어도 매우 튼튼한 적응 PI제어 방법을 얻는 방법이고. [속도지령 r-실속도 y]를 상태 변수 Suf로 하여 사용하고, 이너셔, 동마찰계수, 로보트 각도에 의한 중력 외란, 쿠론 마찰의 추정치 J*, A*, Gr*, Cf*를 구하고, 이 각 추정치와 실제의 값과의 오차가 0이 되도록 토오크 지령 τ를 다음과 같이 구한다. τ=K2·Suf+(K1/S)·Suf+J*·r'+A*·y+Gr*·sinθ+Fr*+Cf*+τ1 또한, 상기 식의 우변 1항과 2항은 PI제어에서 구해지는 토오크 지령이다. r'는 지령의 가속도, θ는 로보트 암각도이고, τ1은 그외의 외란에 대응하기 위한 절환입력이다. 각 추정치와 실제의 값과의 오차가 0이 되기 때문에, 속도지령 r=실속도 y가 얻어지고, 전달함구「1」의 적응 PI 제어가 얻어진다.

Robot

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

Numerical control unit

Versatile robot control system

Speed control system of servo motor

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Control system controller

Utility monitoring and control system

A remote utility reading and control system includes a central utility use data bank which communicates by communications link with a plurality of relay modules located at power sub-distribution transformers. Each relay module separately addresses and communicates by PLC with a number of site units in its locality. The site units may include on/off controls for buildings, light systems or single pieces of equipment, or may include utility meters or real power meters. The PLC communication utilizes error checking and message verifying to acquire valid status or measurement signals, which are then transmitted to the central data bank. A CRC error code identifies faulty messages. After multiple interrogation, five responses are stored, and a message is confirmed only when three of five reponses are identical. Systems for electricity, water, and gas are described.

Utility monitoring and control system

A remote utility reading and control system includes a central utility use data bank which communicates by communications link with a plurality of relay modules located at power sub-distribution transformers. Each relay module separately addresses and communicates by PLC with a number of site units in its locality. The site units may include on/off controls for buildings, light systems or single pieces of equipment, or may include utility meters or real power meters. The PLC communication utilizes error checking and message verifying to acquire valid status or measurement signals, which are then transmitted to the central data bank. A CRC error code identifies faulty messages. After multiple interrogation, five responses are stored, and a message is confirmed only when three of five reponses are identical. Systems for electricity, water, and gas are described.

Speed control system for servo motor

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Robot controller

USER INTERFACE SYSTEM FOR HEAT COMFORT CONTROLLER, METHOD FOR PROGRAMMING THE CONTROLLER AND THERMAL BRIDGE FOR TEMPERATURE CONTROL

Computer controlled lighting system with distributed control resources

A stage lighting system is comprised of a plurality of lamp units which may have diverse communication protocols, functions and data parameters. The stage lighting system is controlled by a modular control system comprised of a modular controller mainframe interconnected with a plurality of control devices which may have diverse communications protocols and data formats. The modular controller mainframe consists of a plurality of input and output modules, mass storage devices and a main processor kernel, all interconnected by a number of data buses. The input modules serve as an interface between the modular controller mainframe and the diverse protocols of the various control devices. Similarly, the output modules serve as an interface between the modular controller mainframe and the diverse protocols of the various types of lamp units. The modular controller mainframe serves as an interface system by providing one or more of said input or output modules with the capability of translating parameter commands, where necessary, to accommodate control devices having diverse communications protocols and output devices having diverse communications protocols, functions and data formats. The system may also include a distributed control system for a lighting system in which two or more fully-functional control devices are online simultaneously to control any function of any of a plurality of luminaries from the control devices. Various methods for arbitrating and resolving conflicts between or among plural control consoles are also used.

Method and apparatus for controlling and determining the status of electrical devices from remote locations

Apparatus for controlling an electrical device by remote control including a control device coupled to the electrical device by a wire connection for providing power to the electrical device, the control device having an actuator for adjusting the status of the electrical device and a radio frequency transmitter/receiver and antenna for adjusting the status of the electrical device in response to control information in a radio frequency signal. The transmitter/receiver receives the radio frequency signal via the antenna and transmits a status radio frequency signal with information regarding the status of the electrical device. A master control unit has at least one actuator and status indicator and a transmitter/receiver for transmitting a radio frequency signal having the control information therein to control the status of the electrical device and for receiving the status information from the control device. The status indicator indicates the status of the electrical device in response to the status information. A repeater receives the radio frequency signal from the master unit and transmits the control information to the control device and receives the status information from the control device and transmits it to the master unit.

Automated system for repairing components

The present invention relates to an automated system and a process for repairing a component having at least one surface. The system broadly comprises a scanner device for generating an image of each component surface having a repair material thereon and a programmed central processing unit for generating instructions for performing an operation to remove any excess repair material from each surface of the component and to blend each surface of the component. The system further includes a programmable robot for holding the component during the scanning process and during the subsequent operation. The system further includes a cell having a plurality of tools for performing different blending operations and/or polishing surfaces of the component. A process for performing the repair of the component is also described.

Welding position detector

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Controlling under-actuated robot arms using a high speed dynamics

The invention controls an under-actuated robot manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body quantities for each of the joints from the current positions of the links, and finally computing from the articulated body quantities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands corresponding to the active joint forces thus computed to respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link beginning with the innermost link in which the active joint force is computed from the residual force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.

How to plan the driving route of the robot

본 발명은 로보트의 각축을 구동시키기 위한 속도명령을 부드럽게 발생시킴과 동시에 구동경로 발생시간을 단축시켜서 작업효율과 생산성을 증대시킬 수 있는 로보트의 구동경로 계획 방법에 관한 것으로써, 로보트의 아암의 종단부에 위치한 엔드-이펙터를 한 지점에서 다른 지점으로 이동시키도록 원하는 위치량 만큼 이동시키기 위해서 주어진 샘플링시간, 최대속도, 가감속시간, 이동해야 할 거리를 만족시키는 일정 형태의 속도명령 파형을 생성하는 속도명령파형 생성 단계와, 전체속도명령 지속시간을 구하고, 가감속구간에서의 매샘플링 시간마다의 필요속도 및 필요 이동량을 구하는 속도 및 이동량 연산 단계와, 상기 가감속구간에서의 매 샘플링 시간마다의 필요속도 및 필요이동량을 써보모터에 인가하여 로보트가 계획된 경로를 구동토록하는 로보트 구동단계를 이루어진 로보트의 구동경로계획 방법에 있어서, 상기 속도명령은 가감속시간에서 매 샘플링시간마다 사다리꼴형태의 속도명령에 대응하는 부드러운 형태의 속도명령비율을 미리 기억장치에 저장하여 우선 사다리꼴 형태의 속도명령을 생성한 후, 이 생성된 속도명령값에 상기 기억장치에 기억된 비율값을 승산하는 방법으로 생성하는 것을 특징으로 한다.

Setting Apparatus and Setting Method each for Setting Setting Information in Electric Power Line Carrier Communication Terminal Apparatus

상용 전력원의 전력선을 통하여 전력선 반송 통신을 수행하기 위해서 전력선 반송 통신부를 구비한 전력선 반송 통신 단말 장치에 속성 정보와 연동 작동 정보를 포함하는 설정 정보를 설정하는 설정 장치와 설정 방법이 제공된다. 설정 정보는 미리 데이터 저장 메모리에 저장되고, 적외선 전달부는 데이터 저장 메모리에 저장된 설정 정보를 적외선 통신 방법을 사용하여 전력선 반송 통신 단말 장치에 직접 전달한다. There is provided a setting apparatus and a setting method for setting setting information including attribute information and interlocking operation information in a power line carrier communication terminal device having a power line carrier communication unit for performing power line carrier communication through a power line of a commercial power source. The setting information is stored in advance in the data storage memory, and the infrared transmitting unit directly transmits the setting information stored in the data storage memory to the power line carrier communication terminal device using the infrared communication method.

Controlling system and method for servomotor

본 발명은 외부로부터의 속도명령과 서보모터의 실제속도와의 차인 속도오차의 비례연산을 실시하는 비례연산기와, 상기 속도오차의 적분연산을 실시하는 적분연산기와, 상기 비례연산기와 상기 적분연산기로부터 산출된 값에 따라 상기 서보모터로 제공되는 전류를 제어하는 전류제어기를 갖는 서보모터의 제어시스템 및 그 제어방법에 관한 것이다. 본 제어시스템은, 상기 서보모터의 실제속도로부터 산출된 실제위치와 상기 속도명령의 적분에 의해 산출된 위치명령과의 차인 위치오차를 적분하는 적분회로와; 상기 서보모터에 제공되는 토크명령을 보상하기 위한 마찰보상값을 산출하는 마찰보상회로와; 상기 서보모터의 실제위치가 목표위치에 도달시, 상기 위치오차와 상기 실제속도에 따라 상기 적분회로로부터의 위치오차의 적분값과 상기 마찰보상회로의 마찰보상값의 적용여부를 결정하는 판단제어회로를 포함하는 것을 특징으로 한다. 이에 의해, 부하가 최종 목적하는 위치에 도달하는 위치도달시간을 단축할 수 있게 된다. The present invention provides a proportional operation for performing a proportional operation of a speed error, which is a difference between a speed command from an external speed and an actual speed of a servomotor, an integral operation for performing an integral operation of the speed error, from the proportional and the integrator. A control system of a servomotor having a current controller for controlling a current provided to the servomotor according to the calculated value, and a control method thereof. The control system includes an integrating circuit for integrating a position error, which is a difference between a real position calculated from an actual speed of the servomotor and a position command calculated by the integration of the speed command; A friction compensation circuit for calculating a friction compensation value for compensating a torque command provided to the servomotor; When the actual position of the servo motor reaches the target position, a judgment control circuit for determining whether to apply the integral value of the position error from the integrating circuit and the friction compensation value of the friction compensation circuit according to the position error and the actual speed. Characterized in that it comprises a. As a result, the position reaching time at which the load reaches the final desired position can be shortened.