Control Device for a Parallel Slider Device, Control Method Therefor and Measuring Device Using Same

In a parallel slider device, the two sliders are allowed to move in a smooth manner without interfering with each other. A same position command is given to a front servo controller for a front linear servo motor and a rear servo controller for a rear linear servo motor, and the front servo controller and the rear servo controller are provided with mutually different control gains.

Trajectory control device

A trajectory control device controlling a trajectory of a movable portion includes a servo-system response-trajectory calculation unit that computes a servo-system response trajectory based on a position command of each movable axis, a shape-feature determination unit that outputs a shape feature amount including information of a position of a boundary point in a path shape and a running direction near the boundary point based on a determination from the position command whether the shape of the commanded path is straight or curved line, a position-vector correction unit that corrects a position vector based on the position command, the servo-system response trajectory and the shape feature amount, and outputs a corrected position command, and servo control units that control a motor of each movable axis by outputting a motor drive torque so that a position of each movable axis follows the corrected position command.

System and method for control performance monitoring

A method for monitoring a control of a parameter of one or more devices or systems in an oil or gas production site includes receiving process data, the process data being a result of the control of the parameter of the one or more devices or systems in the production site; smoothing the process data using a polynomial filter while preserving features of the process data to obtain smoothed data; and applying a pattern recognition algorithm to the smoothed data to determine whether there is a malfunction condition in the one or more devices or systems.

Control device of power transmission device and method of setting parameters in a power transmission device

A control input for controlling a driving force of an actuator ( 5 ), by a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value of a secondary power imparted to a secondary element ( 3 ) from a primary element ( 2 ) via an elastic deformation member ( 4 ), and a second variable component which is a temporal change rate of the deviation, so as to converge the first variable component to zero on the switching hyperplane. A gradient of the switching hyperplane is preliminarily determined based on a response characteristics data satisfying a predetermined requirement.

Numerical controller having function for switching between pressure control and position control

When a numerical controller is notified of switching to pressure control during instructing of position-controlled synchronization, the numerical controller places the synchronization instruction in pause and switches to a pressure-controlled instruction. Then, when it is desired to return from pressure control to position control, a transition from pressure control to position control is effected by resuming the position-controlled synchronization instruction that has been placed in pause hitherto and outputting movement instructions up to the actual position all at once. With this, the actual speed matches the position-controlled speed controlled by the servo control section, thereby reducing a shock at the time of switching from pressure control to position control.

Measuring system, a measuring method and a computer-program product for resource-saving measurement

A measuring system ( 105 ) serves for the measurement of a device under test ( 108 ). It contains a measuring device ( 107 ) and a control unit ( 182 ). This measuring device ( 107 ) comprises a measuring unit ( 173 ) which is controlled by the control unit ( 182 ) in order to implement the measurement of the device under test ( 108 ). The control unit ( 182, 282 ) is either arranged in the device under test ( 108, 208 ) or the measuring system ( 5 ) comprises a control computer ( 6 ), the control unit ( 62 ) is arranged within the control computer ( 6 ) and the measuring device ( 7 ) then does not comprise a control unit for controlling the measurement.

MOTOR CONTROL SYSTEM AND METHOD FOR SKIPPING RESONANT OPERATING FREQUENCIES

A system and method of avoiding hunting behavior by a motor around disallowed speed ranges. A sensor or sensorless method determines the motor's actual speed. A memory contains lower and upper speed values that define a disallowed range. A control unit determines whether the motor is operating under a limiting condition and engaged in hunting behavior by determining whether the motor is repeatedly moving between an actual speed that is within the disallowed range and an actual speed that is at or below the lower speed value during a first period, and if so, sets a temporary speed limit for the motor at the lower speed value for a second period. The first period may be the time required for the motor to change its actual speed a few times and thereby confirm hunting behavior. The second period may be sufficiently long that the limiting condition may have changed. 1. An electric motor system comprising:an electric motor having a shaft for driving a load; and a speed determiner operable to determine an actual speed value of the electric motor,', 'a memory element containing a first lower speed value and a first upper speed value which together define a first disallowed speed range for the electric motor, and', calculate a desired speed value for the electric motor, wherein the desired speed value is not within the first disallowed speed range, and to generate and send an electrical signal to cause the electric motor to attempt to achieve the desired speed value,', 'receive the actual speed value of the electric motor from the speed determiner,', 'determine whether the electric motor is unable to achieve the desired speed value due to a limiting condition and is repeatedly changing between a first actual speed value that is at or below the first lower speed value and a second actual speed value that is within the first disallowed speed range over a first predetermined period of time,', 'if so, set a temporary speed limit for the electric motor at the first lower speed ...

Motor control system provided with function to detect abnormal braking

A motor control system of the present invention includes a servo electricity supply unit supplying electricity to a servo motor, and a controller controlling the servo motor, a mechanical brake and the servo electricity supply unit. The controller controls the servo electricity supply unit to stop the supply of electricity to the servo motor when a signal receiving unit receives a signal for actuating the mechanical brake and to resume the supply of electricity to the servo motor when an abnormality determining unit determines that abnormality exists in the mechanical brake.

ROBOT ARM, METHOD OF ESTIMATING AMOUNT OF IRON POWDER CONTAINED IN LUBRICANT OF CONNECTING PART OF ROBOT ARM, AND ABNORMALITY SIGN DETERMINATION SYSTEM

An average value of differences between command current values acquired at a plurality of timings when the motor is controlled at a rotation speed within a preset fixed range in a preset period and an average value of the command current values in the period is acquired, and the average value of the differences is accumulated in an order of the acquisition. When a difference between an accumulated value of the average values of the differences up to an N−1th time and an accumulated value of the average values of the differences up to an Nth time becomes greater than or equal to a preset value, and then become less than the preset value, and then again becomes greater than or equal to the preset value, a notification of an abnormality sign in the robot arm is transmitted. 1. A robot arm comprising:a motor;a control unit configured to control the motor based on data indicating a command current value;an arm configured to operate based on a driving force of the motor; anda connecting part connecting the motor to the arm and including a lubricant, whereinan average value of differences between the command current values acquired at a plurality of timings when the motor is controlled at a rotation speed within a preset fixed range in a preset period and an average value of the command current values in the period is acquired, and the average value of the differences is accumulated in an order of the acquisition, andwhen a difference between an accumulated value of the average values of the differences up to an N−1th time (N is a natural number of two or greater) and an accumulated value of the average values of the differences up to an Nth time becomes greater than or equal to a preset value, and then become less than the preset value, and then again becomes greater than or equal to the preset value, a notification of an abnormality sign in the robot arm is transmitted.2. A method of estimating an amount of iron powder contained in a lubricant of a connecting part of a ...

System and Method for Producing Customized Products Intermixed With Mass Produced Products

A system and method for producing customized products intermixed with mass produced products are disclosed. The system and method utilize an automated track system and a plurality of vehicles that are independently routable along the track system. The track system includes a primary transport path and at least one secondary transport path. At least some vehicles may be independently routable along the track system to deliver first and second vehicles, with the respective first and second articles, to at least one of at least two unit operation stations. The first article and the second article are routable so that: the first article is routable to form a customized product; and the second article is routable separate from the first article to form part of a stream of mass produced products. 1. A system for producing customized products intermixed with mass produced products , said system comprising:an automated track system comprising a primary transport path and at least one secondary transport path;a plurality of unit operation stations disposed along the track system, each of said unit operation stations being capable of performing an operation in the process of producing a product and/or preparing a product for distribution; a first vehicle for transporting a first article, and', 'a second vehicle for transporting a second article, wherein', 'said first and second vehicles are independently routable along the track system to deliver the first and second vehicles, with the respective first and second articles, to at least one of the unit operation stations; and, 'a plurality of vehicles propellable along the track system, comprising at least said first article is routable to form a customized product; and', 'said second article is routable separate from said first article to form part of a stream of mass produced products., 'wherein the first article and the second article are routable so that2. The system of for producing customized fluent products intermixed ...

Sensor System Using Safety Mechanism

A sensor device using verification includes a sensor component and a verification component. The sensor component is configured to generate first data and second data. The verification component is configured to analyze the first data and the second data and generate verification data based on the first data and the second data.

CONTROL DEVICE, CONTROL PROGRAM AND CONTROL METHOD

The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability. 1. A control device that controls a control system which contains a motion body and a driving source driving the motion body , comprising:an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source for driving the motion body and the velocity actual value represents a velocity of the motion body;an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system, the velocity inferred value corresponds to the external force inferred value and represents a velocity of the motion body, and the operation formula contains items for updating the velocity inferred value and the external force inferred ...

METHOD FOR OPERATING A NUMERICALLY CONTROLLED PRODUCTION MACHINE, AND CORRESPONDING NUMERICAL CONTROL

A method for operating a numerically controlled production machine includes defining a permissible value range determined by the design and construction of the production machine in which, in a normal operation during production of a workpiece, values representing a mechanical or electrical load described by acceleration and/or jolting of at least one component of the numerically controlled production machine are variable, and activating, for producing the workpiece, with a control signal a conservation operation for reducing the mechanical or electrical loads, wherein in the conservation operation the values of acceleration and/or jolting of the at least one component are variable within a part value range that is limited in comparison to the permissible value range.

VISUAL PREVIEW FOR LASER FABRICATION

A computer numerically controlled machine may include a movable head configured to deliver electromagnetic energy to a part of a working area in which the movable head may be commanded to cause delivery of the electromagnetic energy. The interior space may be defined by a housing and may include an openable barrier that attenuates transmission of light between the interior space and an exterior of the computer numerically controlled machine when the openable barrier is in a closed position. The computer numerically controlled machine may include an interlock that prevents emission of the electromagnetic energy when detecting that the openable barrier is not in the closed position. The commanding may result in the computer numerically controlled machine executing operations of a motion plan for causing movement of the movable head to deliver the electromagnetic energy to effect a change in a material at least partially contained within the interior space. 1. A computer-implemented method comprising:commanding a computer numerically controlled machine comprising a movable head configured to deliver electromagnetic energy to a part of a working area defined by limits within which the movable head can cause delivery of the electromagnetic energy, the working area being inside an interior space of the laser computer numerically controlled machine, the interior space being defined by a housing comprising an openable barrier that attenuates transmission of light between the interior space and an exterior of the computer numerically controlled machine when the openable barrier is in a closed position, the computer numerically controlled machine comprising an interlock that prevents emission of the electromagnetic energy when detecting that the openable barrier is not in the closed position, the commanding resulting in the computer numerically controlled machine executing operations of a motion plan for causing movement of the movable head to deliver the electromagnetic ...

VISUAL PREVIEW FOR LASER FABRICATION

A computer numerically controlled machine may include a movable head configured to deliver electromagnetic energy to a part of a working area in which the movable head may be commanded to cause delivery of the electromagnetic energy. The interior space may be defined by a housing and may include an openable barrier that attenuates transmission of light between the interior space and an exterior of the computer numerically controlled machine when the openable barrier is in a closed position. The computer numerically controlled machine may include an interlock that prevents emission of the electromagnetic energy when detecting that the openable barrier is not in the closed position. The commanding may result in the computer numerically controlled machine executing operations of a motion plan for causing movement of the movable head to deliver the electromagnetic energy to effect a change in a material at least partially contained within the interior space. 1. A computer-implemented method comprising:commanding a computer numerically controlled machine comprising a movable head configured to deliver electromagnetic energy to a part of a working area defined by limits within which the movable head can cause delivery of the electromagnetic energy, the working area being inside an interior space of the laser computer numerically controlled machine, the interior space being defined by a housing comprising an openable barrier that attenuates transmission of light between the interior space and an exterior of the computer numerically controlled machine when the openable barrier is in a closed position, the computer numerically controlled machine comprising an interlock that prevents emission of the electromagnetic energy when detecting that the openable barrier is not in the closed position, the commanding resulting in the computer numerically controlled machine executing operations of a motion plan for causing movement of the movable head to deliver the electromagnetic ...

Collision detection

A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising: determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator; measuring an actual robotic arm condition during movement of the arm caused by the applied torque; and determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.

ROBOTIC GENERATION OF A MARKER DATA MAPPING FOR USE IN INVENTORYING PROCESSES

Systems and methods for creating a data mapping to be used in a subsequent inventorying process to locate objects within an area. The methods comprise: identifying, by a robot, at least one first marker disposed within the area which should be re-programed; autonomously transforming, by the robot, a first programmed state of the at least one first marker to a second programmed state; and autonomously creating, by the robot, the data mapping specifying a current physical location of the at least one first marker which was re-programed and current physical locations of second markers also disposed within the area. 1. A method for creating a data mapping to be used in a subsequent inventorying process to locate objects within an area , comprising:identifying, by a robot, at least one first marker disposed within the area which should be re-programed;autonomously transforming, by the robot, a first programmed state of the at least one first marker to a second programmed state; andautonomously creating, by the robot, the data mapping specifying a current physical location of the at least one first marker which was re-programed and current physical locations of second markers also disposed within the area.2. The method according to claim 1 , wherein each of the first and second markers comprises a barcode claim 1 , a locator tag claim 1 , a beacon claim 1 , or a camera.3. The method according to claim 1 , further comprising detecting claim 1 , by the robot claim 1 , when a piece of display equipment has been re-located within the area claim 1 , wherein the at least one first marker is identified by the robot in response to the detecting.4. The method according to claim 1 , further comprising:identifying, by the robot, at least one location in the area at which at least one third marker should be disposed;performing operations by the robot to dispose the at least one third marker at the identified location; andmodifying the data mapping to specify a current physical ...

BEARING LIFE-SPAN PREDICTION DEVICE

The bearing life prediction device includes a pressure measuring unit that measures the pressure applied to a front bearing, a coolant pressure measuring unit that measures the pressure of a coolant liquid, a detecting unit that measures or predicts the rotation number and the temperature, a storage unit that stores model information and motor specification information in correlation, a specifying unit that inputs or selects the model information, and a bearing life prediction unit that predicts the life of the bearings on the basis of the motor specification information including the specification information of the bearings stored in the storage unit in correlation with the model information input or selected by the specifying unit, the pressure information of the coolant liquid, the pressure information applied to the front bearing, the rotation number information of the motor, and the temperature information of the bearings. 1. A bearing life prediction device that predicts a life of a pair of bearings that rotatably supports a rotating shaft portion of a motor used in a machine tool , through which a coolant liquid can be passed , the rotating shaft portion being connected to a coolant delivery unit via a rotary joint at one end in a rotating shaft direction and connected to a spindle capable of discharging the coolant liquid via a connecting portion at the other end , the bearing life prediction device comprising:a pressure measuring unit that measures a pressure in the rotating shaft direction applied to a front bearing disposed on the other end side in the rotating shaft directon of the pair of bearings;a coolant pressure measuring unit that measures a pressure of the coolant liquid;a motor state detecting unit that measures or predicts a rotation number of the motor and a temperature of the pair of bearings;a motor information storage unit that stores model information for specifying respective motor models and motor specification information which is ...

Method of Robot Arm Fleet Position Control with Wireless Charging Time

Embodiments generally relate to robots and enabling robots to locate objects in a physical environment. In some embodiments, a method includes charging a radio-frequency identification (RFID) tag with an RFID reader, where the RFID tag is coupled to an object, and where the RFID reader is coupled to a robot arm. The method further includes receiving a plurality of responses from the RFID tag, where each response includes a power value to which the RFID tag was charged and a time value for charging the RFID tag to the power value. The method further includes moving the RFID reader to a plurality of RFID reader positions using the robot arm, where each RFID reader position is associated with one of the responses of the plurality of responses. The method further includes determining a plurality of distances from the RFID reader to the RFID tag based on power values and the time values of the respective responses at the respective RFID reader positions. The method further includes determining a location of the RFID tag based on the plurality of distances. 1. A computer-implemented method for determining a location of an object in a three-dimensional space , the method comprising:charging a radio-frequency identification (RFID) tag with an RFID reader, wherein the RFID tag is coupled to an object, and wherein the RFID reader is coupled to a robot arm;receiving a plurality of responses from the RFID tag, wherein each response includes a power value to which the RFID tag was charged and a time value for charging the RFID tag to the power value;moving the RFID reader to a plurality of RFID reader positions using the robot arm, wherein each RFID reader position is associated with one of the responses of the plurality of responses;determining a plurality of distances from the RFID reader to the RFID tag based on power values and the time values of the respective responses at the respective RFID reader positions; anddetermining a location of the RFID tag based on the plurality ...

Servomotor and encoder

An encoder includes a first multiple rotation counter that generates first multiple rotation data using a rotation signal indicating one rotation of a rotational shaft of a motor, a second multiple rotation counter that generates second multiple rotation data using the rotation signal, a first cumulative-number calculation unit that calculates first accumulated multiple rotation data using an angle signal indicating a rotational angle of the rotational shaft, a second cumulative-number calculation unit that calculates second accumulated multiple rotation data using the angle signal, and a first comparative diagnosis unit that diagnoses whether the encoder has a fault by performing a comparison to determine whether the first multiple rotation data, the second multiple rotation data, the first accumulated multiple rotation data, and the second accumulated multiple rotation data are a same value.

POSITIONING CONTROL DEVICE AND MOLD-CLAMPING APPARATUS

A positioning control device mounted on an industrial machine including a driver including a motor, a movable body movable by the driver, a first detector that detects a position of the movable body based on the amount of driving of the driver, a servo amplifier that performs first feedback control of feedback-controlling driving of the motor based on a first detection value by the first detector, and a second detector that detects a position of the movable body when the movable body comes closer to a target position within a distance or shorter. The positioning control device is configured to position the movable body at the target position and includes a controller that controls the servo amplifier. The controller includes a switching unit that switches control modes between a first control mode performing the first feedback control and a second control mode disabling the first feedback control of the servo amplifier and performing second feedback control of feedback-controlling driving of the motor based on a second detection value by the second detector. 1. A positioning control device mounted on an industrial machine comprising: a driver including a motor; a movable body movable by the driver; a first detector configured to detect a position of the movable body based on an amount of driving of the driver; a servo amplifier configured to perform first feedback control of feedback-controlling driving of the motor based on a first detection value by the first detector; and a second detector configured to detect a position of the movable body when the movable body is within a distance or less of a target position , the positioning control device configured to position the movable body at the target position and comprising a controller configured to control the servo amplifier , whereinthe controller includes a switching unit configured to switch control modes between a first control mode performing the first feedback control of the servo amplifier and a second ...

Method for transmitting information in controller and method for detecting abnormality in encoder

A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

Force control device, force control method, and force control program

Provided is a force control device and the like that can, even in the case of torque saturation, reduce positional deviation between a virtual object and a control target by using an algebraic loop to feedback a position of the virtual object, and improve stability while improving followability. The force control device includes: a position detector that detects a position of the control target; a force sensor 11 that detects a force by which the control target is in contact with an object; a moving mechanism 41 that movably holds the control target; a driving unit 42 that includes a motor that uses a torque command value as an input to operate the moving mechanism 41; and a computing unit 40 that determines the torque command value. The computing unit 40 stores a virtual object 12 having predetermined dynamic characteristics, and a position controller 13, and is configured to: calculate a position at a next time, the position being calculated by simulating a motion of the virtual object when a target force exerted on the control target and a measured value of the force sensor 11 are given to the virtual object; obtain a torque calculated when the calculated position is given to the position controller 13 as a target position at the next time; and, when the obtained torque is outside the predetermined range set previously, determine the position of the virtual object 12 at the next time based on a boundary value of the predetermined range and the obtained torque.

ASSEMBLY LINE ARTICLE TRACKING SYSTEM

Manufacturing of article of footwear include temporarily mating a sole and an upper to determine processes to be performed to the sole and/or the upper before permanently mating. As specific operations are determined based on the particular combination of a sole and an upper, the sole and upper are individually tracked through the subsequent processes to ensure the correct pairing is achieved at the time of permanent mating. The tracking may leverage identifiers in the tooling supporting the upper and in the sole. 1. A manufacturing tracking system , the system comprising:a first tool having a first identifier of a first identifier type, the first tool configured to receive a first article;a first sensor of a first sensor type, the first sensor type configured to read the first identifier;a second identifier coupled with a second article, wherein the second identifier is a second identifier type that is different from the first identifier type;a first sensor of a second sensor type, the second sensor type configured to read the second identifier;a computing system having a processor and memory configured to associate the first identifier and the second identifier;a first processing station for the first article;a second processing station for the second article;a second sensor of the first sensor type configured to read the first identifier following the first processing station; anda second sensor of the second sensor type configured to read the second identifier following the second processing station.2. The system of claim 1 , wherein the first tool is a footwear last.3. The system of claim 1 , wherein the first identifier is a radiofrequency identification (RFID) tag.4. The system of claim 3 , wherein the RFID tag is rewritable.528. The system of claim claim 3 , wherein the first identifier is at least partially embedded in the first tool.6. The system of claim 1 , wherein the first identifier is positioned at the first tool in a location not obscured by a ...

NUMERICAL CONTROLLER CONTROLLING MACHINING TOOL BASED ON SKIVING INSTRUCTION

A numerical controller calculates a tool path and a tool feed rate based on a cutting point path and a cutting point feed rate instructed by a skiving instruction when a block read from a machining program is the skiving instruction and controls a machining tool based on the calculated tool path and the tool feed rate. 1. A numerical controller that controls a machining tool performing a skiving process of cutting a rotational symmetrical surface of a rotating workpiece by a tool , based on a machining program , whereinthe machining program is adapted to include a skiving instruction capable of designating a cutting point movement path during the skiving process, and wherein an instruction program analyzing unit analyzing the machining program and determining whether a block read out from the machining program is a skiving instruction or not; and', 'a skiving instruction data calculating unit calculating a tool path and a tool feed rate based on a cutting point path and a cutting point feed rate instructed by the skiving instruction when the instruction program analyzing unit determines that the read block is the skiving instruction,, 'the numerical controller compriseswherein the machining tool is controlled on the basis of the tool path and the tool feed rate calculated by the skiving instruction data calculating unit.2. The numerical controller according to claim 1 , further comprising:a tool data storing unit storing tool angle data indicating a tool angle with respect to the rotation axis of the workpiece and effective tool blade edge data indicating an effective tool blade edge,wherein the skiving instruction data calculating unit calculates the actual tool path and tool feed rate based on the cutting point path and the cutting point feed rate instructed by the skiving instruction and the tool angle data and the effective tool blade edge data stored in the tool data storing unit.3. The numerical controller according to claim 1 ,wherein the skiving instruction ...

SERVO CONTROL APPARATUS HAVING FUNCTION OF SENSORLESS CONTROLLED STOP

A servo control apparatus includes a sensor unit for detecting a motor speed; an amplifier for driving a motor and feeding back a current; a magnetic pole position detector; a position controller for outputting a speed command; a speed controller for outputting a current command; a current controller for outputting a voltage command; a speed estimator for calculating an estimated speed from the voltage command; a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed; a sensor malfunction detector; a stop position command generator; and a first switch for switching from the position command to the stop position command, a second switch for switching from the magnetic pole position to the estimated magnetic pole position, and a third switch for switching from the detected speed to the estimated speed, when the sensor malfunction detector has detected a malfunction. 1a sensor unit for detecting a speed of the servomotor and outputting the speed as speed feedback;an amplifier for driving the servomotor, and feeding back a current flowing through the servomotor;a magnetic pole position detector for detecting a magnetic pole position of the servomotor;a position controller for outputting a speed command based on a position command for the servomotor and a position of the servomotor calculated from the detected speed;a speed controller for outputting a current command based on the speed command and the detected speed;a current controller for outputting a voltage command based on the current command and the detected current;a speed estimator for calculating an estimated speed based on the voltage command;a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed;a sensor malfunction detector for detecting a malfunction in the sensor unit;a deceleration command generator for generating a deceleration command to decelerate the servomotor;a first switch for switching ...

Numerical controller having command path compression function

A numerical controller extracts a subsequence from a sequence of command points obtained from a machining program in a manner such that the same path may be created regardless of whether the sequence of command points is extracted from the commanded direction or from the reverse direction. A compressed path approximated by a straight line or a curve is created in a manner such that the compressed path may be approximated by the same straight line or curve regardless of whether the compressed path is created from the extracted subsequence in a commanded direction or in the reverse direction.

DYNAMIC INPUT SCALING FOR CONTROLS OF ROBOTIC SURGICAL SYSTEM

A robotic surgical system includes an arm, a tool, an input controller, and a processing unit. The arm includes an end that supports the tool which is moveable an output distance within a surgical site. The input controller is movable an input distance at an input velocity and acceleration. The processing unit is in communication with the input controller and is operatively associated with the arm to move the tool the output distance. The processing unit is configured to dynamically scale the output distance in response to the input distance, velocity, and/or acceleration. 1. A robotic surgical system comprising:a robotic arm supporting a surgical tool;an input controller movable in at least three dimensions;a sensor detecting a movement distance and at least one of a movement velocity and an acceleration of the input controller as the input controller is moved in the at least three dimensions; anda processing unit operatively associated with the robotic arm to move the tool an output distance, configured to dynamically scale the movement distance based on at least one of the movement velocity and the acceleration, and configured to calculate the output distance from the dynamic scaling.2. The system of claim 1 , wherein the sensor is configured to send signals indicative of the movement distance and the movement velocity of the input controller to the processing unit.3. The system of claim 1 , wherein the processing unit is configured to calculate the output distance by multiplying the movement distance by the movement velocity.4. The system of claim 1 , wherein the processing unit is configured to calculate the output distance by multiplying the movement distance by a predetermined scaling factor that varies depending on at least one of the movement velocity and the acceleration.5. The system of claim 4 , wherein the predetermined scaling factor is a first value when the movement velocity or the acceleration is within a first range and a second value when within a ...

MOVING MATERIAL DURING LASER FABRICATION

A moveable head of a computer numerically controlled machine may deliver electromagnetic energy sufficient to cause a first change in a material at least partially contained within an interior space of the CNC machine. A feature of the material may be imaged using at least one camera present inside the interior space to update a position of the material, and the moveable head may be aligned to deliver electromagnetic energy sufficient to cause a second change in the material such that the second change is positioned on the material consistent with the first change and with an intended final appearance of the material. Methods, systems, and article of manufacture are described. 1. A computer-implemented method comprising:delivering, via a moveable head of a computer numerically controlled machine, electromagnetic energy sufficient to cause a first change in a material at least partially contained within an interior space of the computer numerically controlled machine;imaging a feature of the material using at least one camera present inside the interior space to update a position of the material; andaligning the moveable head to deliver electromagnetic energy sufficient to cause a second change in the material such that the second change is positioned on the material consistent with the first change and with an intended final appearance of the material.2. The computer-implemented method of claim 1 , wherein the feature comprises the first change.3. The computer-implemented method of claim 1 , wherein the feature comprises an aspect of an appearance of the material prior to the first change.4. The computer-implemented method of claim 3 , wherein the feature comprises a corner of claim 3 , a hole in claim 3 , and/or an edge of the material.510-. (canceled)11. The computer-implemented of claim 1 , further comprising moving the material through a pass-through slot in a housing that at least partially defines the interior volume.12. The computer-implemented of claim 1 , ...

METHOD FOR HARMONISING COLOUR IN MANUFACTURED ITEMS

The invention relates to a method for the harmonization of color in manufactured items, which allows color tolerances to be established based on pre-defined values and visual observations for the different parts that form the item and the operating conditions for the manufacture of said parts by which means the colors falling within said tolerances can be obtained as well as the acceptance of the color harmonization of the final product by means of the use of algorithms and visual examination by a person or a machine. 1. A computer automated method for generating numerical-visual color tolerances for parts manufactured by a manufacturing process that are required to be visually similar to a controlled color pattern , a visual reference value on a predetermined scale , or to the rest of the parts along with which they will be assembled into a whole product , comprising:a) automatically generating an identification for each vehicle part to be manufactured;b) for each of the identified vehicle parts, requesting information about the manufacturing elements and processes that are directly related to the end color result of the manufacturing process such as but not limited to: injection molds for injection processes, extrusion dies and rollers for extrusion processes;c) automatically generating an approved manufacturing route which comprises defining the sequence or combination of color-affecting process and manufacturing equipment, and tools for the identified vehicle parts, and that will be used for manufacturing such parts;d) requesting information about critical variables for the approved manufacturing process and manufacturing equipment and tools of each identified vehicle parts whose variation has an impact on the final color of the vehicle parts thus obtained and that will be approved by the client, such as but not limited to: production and operation conditions of the production equipment;e) requesting information about the raw material used in the approved ...

PROCESSING DEVICE, PARAMETER ADJUSTING METHOD, AND STORAGE MEDIUM

A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure. 1. A processing device that is electrically connected to a drive controller for driving a control object , wherein a predetermined control structure that includes a feedback system having one or a plurality of controllers to which a feedback signal relevant to a motion of the control object is input, and a control model part having control models realized by modeling the feedback system and the control object, and that is configured to enable model follow-up control according to the control models which the control model part has; and', 'a calculating part that performs a calculating process of a predetermined signal for drive control of the control object in the predetermined control structure,, 'the drive controller includesthe drive controller performs the drive control on a plurality of the control objects and has a plurality of the predetermined control structures corresponding to the control objects respectively, and a determination part configured to perform a determining process of determining a common control gain to set a predetermined control gain in the control model part of each of the plurality of ...

SYSTEMS AND METHODS FOR TRACKING CUTTING IMPLEMENTS IN PROCESSING FACILITIES

A tracking computing system detects tracking indicia provided on or embedded within cutting implements to be deployed at a processing facility. Periodic implement scans can be performed by one or more mobile computing devices to detect tracking indicia and to determine state data associated with the cutting implements. The state data can be determined at different stages within a processing cycle. The absence of state data for a tracking indicium at one or more stages of the processing cycle may be detected and used to initiate a control action with respect to a potentially missing cutting implement. 1. A computer-implemented method of tracking cutting elements in a processing facility , comprising:generating, by a computing system comprising one or more computing devices, state data for each of a plurality of cutting implements to be deployed in association with the processing facility, wherein the state data is based at least in part on a first implement scan that detects a respective tracking indicium of each of the plurality of cutting elements;generating, by the computing system, association data that associates the respective tracking indicium of each cutting implement of the plurality of cutting elements with a respective operator identifier for one of a plurality of operators to which such cutting element is assigned, wherein the association data is based at least in part on a second implement scan of the plurality of cutting implements;generating, by the computing system, additional state data for each of subset of the plurality of cutting implements, wherein the additional state data is based at least in part on a third implement scan that detects the respective tracking indicium of each of the subset of the plurality of cutting elements;detecting, by the computing system, an absence of at least a portion of the additional state data associated with the respective tracking indicium of a first cutting implement of the plurality of cutting implements; ...

System and method for processing geolocation event data for low-latency

Embodiments are directed to a system and methods for ingesting location event data and encoding location data in the event data to a proximity. The encoding includes geohashing latitude and longitude for each event to a proximity for analysis and throughput.

CASE OPENING RECORDING APPARATUS AND CASE OPENING RECORDING SYSTEM THAT RECORD WHETHER OR NOT CASE IS REMOVED FROM CIRCUIT BOARD

A case opening recording apparatus which, in a mechanical apparatus having a circuit board provided with an electric circuit, and a case capable of housing the circuit board, records whether or not the case is removed from the circuit board, and the case opening recording apparatus includes: a current path provided in the case; an auxiliary power supply provided in either the circuit board or the case and different from a main drive power supply of the mechanical apparatus; a state holding unit in which a state signal to be held is switched when received voltage changes; and a connection unit configured to electrically connect the auxiliary power supply to the state holding unit via the current path when the circuit board is housed in the case, and electrically disconnect the auxiliary power supply from the state holding unit when the circuit board is not housed in the case. 1. A case opening recording apparatus which , in a mechanical apparatus having a circuit board provided with an electric circuit , and a case capable of housing the circuit board , records whether or not the case is removed from the circuit board , the case opening recording apparatus comprising:a current path provided in the case;an auxiliary power supply provided in either the circuit board or the case and different from a main drive power supply of the mechanical apparatus;a state holding unit in which a state signal to be held is switched when received voltage changes; anda connection unit configured to electrically connect the auxiliary power supply to the state holding unit via the current path when the circuit board is housed in the case, and electrically disconnect the auxiliary power supply from the state holding unit when the circuit board is not housed in the case, whereinin a case where the state holding unit holds a state signal different from a state signal held when the auxiliary power supply and the state holding unit are electrically connected to each other by the connection ...

Assembly Workstation Comprising Position Determination Device

A method for configuring an assembly workstation, the assembly workstation having container receptacle devices configured to receive an associated material container, each container receptacle device having a first data carrier, the material containers having a second data carrier, the assembly workstation having a first position determination device configured to ascertain one of (i) a position of a hand of a worker and (ii) a marking connectable to the hand, the first position determination device being connected to a control device, the method comprising: capturing a reference position corresponding to a reference point on a container receptacle device that is touched by the hand of the worker; reading out first data from the first data carrier associated with the reference point; reading out second data from the second data carrier associated with the reference point; and storing the reference position, the first data, and the second data. 1. A method for configuring an assembly workstation , the assembly workstation having multiple container receptacle devices configured to receive at least one associated material container , each of the multiple container receptacle devices having a first data carrier , the at least one associated material containers having a second data carrier , the assembly workstation having a first position determination device configured to ascertain a position of one of (i) a hand of a worker and (ii) a marking connectable to the hand , the first position determination device being connected to a control device , the method comprising:capturing, using the first position determination device, a reference position corresponding to a reference point on a container receptacle device that is touched by the hand of the worker;reading out first data from the first data carrier associated with the reference point;reading out second data from the second data carrier associated with the reference point; andstoring the reference position, the ...

ASSEMBLY LINE ARTICLE TRACKING SYSTEM

Manufacturing of article of footwear include temporarily mating a sole and an upper to determine processes to be performed to the sole and/or the upper before permanently mating. As specific operations are determined based on the particular combination of a sole and an upper, the sole and upper are individually tracked through the subsequent processes to ensure the correct pairing is achieved at the time of permanent mating. The tracking may leverage identifiers in the tooling supporting the upper and in the sole. 127-. (canceled)28. A manufacturing tracking system , the system comprising:a first tool having a first identifier, the first tool configured to receive a first article;a first sensor of a first sensor type, the first sensor type configured to read the first identifier;a second identifier coupled with a second article;a first sensor of a second sensor type, the second sensor type configured to read the second identifier;a computing system having a processor and memory configured to associate the first identifier and the second identifier;a first processing station for the first article;a second processing station for the second article;a second sensor of the first sensor type configured to read the first sensor following the first processing station; anda second sensor of the second sensor type configured to read the second sensor following the second processing station.29. The system of claim 28 , wherein the first tool is a footwear last.30. The system of claim 28 , wherein the first identifier is a radio-frequency identification (RFID) tag.31. The system of claim 30 , wherein the RFID tag is rewrittable.32. The system of claim 28 , wherein the first identifier is at least partially embedded in the first tool.33. The system of claim 28 , wherein the first identifier is positioned at the first tool in a location not obscured by a received first article on the first tool.34. The system of claim 28 , wherein the first article is a footwear upper component ...

Numerical controller and synchronous follow-up control method

A numerical controller contains a position table where a positional relationship is defined between a position of a master axis and positions of a plurality of slave axes, a slave axis synchronous control unit that drives and controls the plurality of slave axes in accordance with the position table so that the slave axes are synchronized with the master axis, a parent determining unit that determines one slave axis, which is stopped due to a failure, to be a parent of the master axis, and a master axis control unit that drives and controls the master axis based on a command position, and if a slave axis serving as the parent of the master axis is determined by the parent determining unit, drives and controls the master axis in accordance with the position table, so that the master axis is synchronized with the slave axis determined to be the parent.

CLOUD CONTROLLED LASER FABRICATION

An execution plan segment of an execution plan can be received at a control unit of a computer numerically controlled machine from a general purpose computer. The execution plan segment can define operations for causing movement of a moveable head of the computer numerically controlled machine to deliver electromagnetic energy to effect a change in a material within an interior space of the computer numerically controlled machine. The execution plan segment can include a predefined safe pausing point from which the execution plan can be restarted while minimizing a difference in appearance of a finished work-product relative to if a pause and restart are not necessary. Operations of the computer numerically controlled machine can be commenced only after determining that the execution plan segment has been received up to and including the predefined safe pausing point by the computer numerically controlled machine. 1. A computer-implemented method comprising:receiving at a control unit of a computer numerically controlled machine from a general purpose computer that is housed separately from a computer numerically controlled machine, an execution plan segment of an execution plan created at the general purpose computer, the execution plan segment defining operations for causing movement of a moveable head of the computer numerically controlled machine to deliver electromagnetic energy to effect a change in a material within an interior space of the computer numerically controlled machine, the execution plan segment further comprising a predefined safe pausing point from which the execution plan can be restarted while minimizing a difference in appearance of a finished work-product relative to if a pause and restart are not necessary;commencing operations of the computer numerically controlled machine defined in the execution plan segment only after determining that the execution plan segment has been received up to and including the predefined safe pausing point by ...

ROBOT SYSTEM FOR ASSET HEALTH MANAGEMENT

A processing system having at least one processor operatively coupled to at least one memory. The processor receives sensor data from the at least one sensor indicating one or more characteristics of the asset. The processor generates, updates, or maintains a digital representation that models the one or more characteristics of the asset. The processor detects a defect of the asset based at least in part on the one or more characteristics. The processor generate an output signal encoding or conveying instructions to provide a recommendation to an operator, to control the at least one robot to address the defect on the asset, or both, based on the defect and the digital representation of the asset. 1. A robotic system for monitoring health of an asset , comprising:at least one robot comprising at least one sensor capable of detecting one or more characteristics of an asset and at least one effector capable of performing a repair or maintenance operation on the asset, wherein the at least one robot is configured to inspect an asset with the at least one sensor; and receive sensor data from the at least one sensor indicating one or more characteristics of the asset;', 'generate, update, or maintain a digital representation that models the one or more characteristics of the asset;', 'detect a defect of the asset based at least in part on the one or more characteristics; and', 'generate an output signal encoding or conveying instructions to provide a recommendation to an operator, to control the at least one robot to address the defect on the asset, or both, based on the defect and the digital representation of the asset., 'a processing system having at least one processor operatively coupled to at least one memory, wherein the processor is configured to2. The robotic system of claim 1 , wherein the digital representation comprises a three dimensional (3D) model of the asset claim 1 , wherein the 3D model is generated based on at least image data acquired via the at ...

Redundant speed summing actuators

A method and system for use with actuation system to control a plurality of vanes disposed within a turbine engine, wherein a vane position sensor provides a vane position signal corresponding to a vane position of the plurality of vanes, the actuation system includes a plurality of motors engaged in response to the vane position signal, and a differential gearbox having a plurality of inputs operatively coupled to the plurality of motors and an output operatively coupled to the plurality of vanes, wherein an output speed of the output is a sum of a plurality of input speeds of the plurality of inputs.

TRAJECTORY MEASURING DEVICE, NUMERICAL CONTROL DEVICE, AND TRAJECTORY MEASURING METHOD

A trajectory measuring device that measures a moving trajectory of a moving target in a machine including three or more movable axes for the moving target, the trajectory measuring device including a trajectory calculating unit that calculates, for each plane having two movable axes among the movable axes as coordinate axes, the moving trajectory on the plane by using command conditions to the moving target including an inter-axis phase difference among the movable axes, command signals to the movable axes generated on the basis of the inter-axis phase difference, and feedback signals indicating positions of the movable axes at time when the movable axes are feedback-controlled such that the positions of the movable axes follow the command signals. 110-. (canceled)11. A trajectory measuring device that measures a moving trajectory of a moving target in a machine provided with three or more movable axes for the moving target , the trajectory measuring device comprising:a display-target-axis designating unit that designates two movable axes, as display targets, out of measurement target movable axes that are the three or more movable axes; and command conditions for the moving target including a radius of a circular command and feed velocity used in measuring the moving trajectory,', 'command signals for the measurement target movable axes common to the measurement target movable axes generated as a sine wave signal that has an amplitude equal to the radius of the circular command and that has a frequency equal to a value obtained by dividing the feed velocity by the radius, and', 'feedback signals indicating positions of the measurement target movable axes when the movable axes are being controlled by using feedback such that the positions of the measurement target movable axes follow the command signals,, 'a trajectory calculating unit that calculates, on the basis of'}the moving trajectory in displaying the moving trajectory on a plane defined by the two movable ...

Tagless Tracking

A method of identifying an article on a production line, the production line comprising a plurality of articles along its length, the relative positions of the plurality of articles along the length of the production line being predetermined, the method comprising: receiving location information of an object which executes the same motion with respect to at least a first subset of the plurality of articles on the production line; for at least a second subset of the plurality of articles, determining from the location information the location of the object at a predetermined interaction between the object and the article; and identifying an article of the plurality of articles at a specified location of the object in dependence on (i) a known location of any one article of the plurality of articles at any one time, and (ii) the locations of the object at the predetermined interactions between the object and the at least second subset of the plurality of articles. 1. A method of identifying an article on a production line , the production line comprising a plurality of articles along its length , the relative positions of the plurality of articles along the length of the production line being predetermined , the method comprising:receiving location information of an object which executes the same motion with respect to at least a first subset of the plurality of articles on the production line;for at least a second subset of the plurality of articles, determining from the location information the location of the object at a predetermined interaction between the object and the article; andidentifying an article of the plurality of articles at a specified location of the object in dependence on (i) a known location of any one article of the plurality of articles at any one time, and (ii) the locations of the object at the predetermined interactions between the object and the at least second subset of the plurality of articles.2. The method as claimed in claim 1 , in ...

Simulation apparatus

A simulation apparatus includes a machine learning device for learning a change in a machining route in machining of a workpiece. The machine learning device observes data indicating the changed machining route and data indicating a machining condition of the workpiece as a state variable, and also acquires determination data for determining whether or not a cycle time obtained by simulation using the changed machining route is appropriate, and learns by associating the machining condition of the workpiece with the change in the machining route, using the state variable and the determination data.

Method and device for regulating the position of control valves

Control of processing machines with redundant actuators

An operation of a processing machine with redundant actuators is controlled according to a reference trajectory by selecting, from a set of points forming a segment of the reference trajectory to be processed for a period of time, a subset of points corresponding to a fraction of the period of time. The subset of points is selected such that the redundant actuators are capable to position the worktool at each point in the subset within the period of time and are capable to maintain the worktool at the last point of the subset after the period of time while satisfying constraints on motion of the redundant actuators. The segment of the reference trajectory is modified in the time domain and the control inputs for controlling the motion of the redundant actuators are determined using the modified segment of the reference trajectory.

Control device for elastic-body-made actuator drive mechanism, method for controlling said mechanism, and control program

An abnormality determining means (104) for determining whether or not output measuring means (103, 8) are abnormal, is installed to determine abnormalities of the abnormality determining means. When either of the output measuring means is abnormal, an elastic-body-made actuator (100) is controlled on the basis of a target internal state determining means (108) and an internal state error compensation means (111). Due to the above, it is possible to perform control such that even in the event of abnormalities in either of the output measuring means, no immediate stop occurs, but a continuous operation is performed up to a predetermined position.

Fail-safe potentiometer feedback system

伺服控制装置

本发明所涉及的伺服控制装置具备：传感器部，检测电动机速度；放大器，对电动机进行驱动并反馈电流；磁极位置检测部；位置控制部，根据位置指令和检测位置来输出速度指令；速度控制部，根据速度指令和检测速度来输出电流指令；电流控制部，根据电流指令和检测电流来输出电压指令；速度估计部，根据电压指令来计算估计速度；磁极位置估计部，根据估计速度来计算估计磁极位置；传感器异常检测部；停止位置指令生成部；第一切换器；第二切换器；以及第三切换器，在传感器异常检测部探测出异常的情况下，第一切换器将位置指令切换为停止位置指令，第二切换器将磁极位置切换为估计磁极位置，第三切换器将检测速度切换为估计速度。

Robot maintenance assist device and method

본 장치는, 로봇 구동계(R1)를 구성하는 서보모터의 전류 지령값에 대해 취득한 데이터를 기억하기 위한 취득 데이터 기억 수단(4)과, 취득 데이터 기억 수단(4)에 기억된 전류 지령값의 데이터에 의거하여 전류 지령값의 장래의 변화 경향을 진단하기 위한 경향 진단 수단(5)과, 경향 진단 수단(5)에 의해 얻어진 전류 지령값의 장래의 변화 경향에 의거하여, 전류 지령값이, 미리 설정된 값에 도달할 때까지의 기간을 판정하기 위한 수명 판정 수단(6)을 구비한다. 로봇 구동계의 잔여 수명을 정밀도 좋게 예측할 수 있다. This apparatus includes acquisition data storage means 4 for storing data acquired with respect to the current command value of the servomotors constituting the robot drive system R1, and data of the current command value stored in the acquisition data storage means 4 Based on the trend diagnosis means 5 for diagnosing a future trend of change in the current command value based on and life determination means (6) for determining a period until a set value is reached. It is possible to accurately predict the remaining life of the robot drivetrain.

Mechanical arm, estimation lubricant in iron powder amount method and abnormality mark determine system

公开了机械臂、估计润滑剂中的铁粉量的方法及异常标志确定系统。根据本公开内容的一个实施方式的机械臂包括：电动机；控制电动机的控制单元；基于电动机的驱动力来进行操作的臂；以及连接部件，其将电动机连接至臂，并且包括润滑剂。获取在预设时间段中的当电动机被控制在预设固定范围内的旋转速度时的多个定时处获取的命令电流值与该时间段中的命令电流值的平均值之间的差的平均值，并且按照获取的顺序来累积差的平均值。当直到第N‑1次的差的平均值的累积值与直到第N次的差的平均值的累积值之间的差变成大于或等于预设值、然后变成小于该预设值、并且然后再次变成大于或等于该预设值时，发送机械臂中的异常标志的通知。

Servo motor and encoder diagnostic device

본 발명은 서보 모터 및 상기 서보 모터의 회전수를 감지하여 위상차를 가지는 다수의 채널신호를 출력하는 다수의 인코더를 데스트하는 서보 모터 및 인코더 진단 장치에 있어서, 모터 전원 수단, 인코더 전원 수단, 파형정형 수단(101,102), 제어수단(200), 채널 선택 수단(300), 카운팅 수단(400), 표시 수단(500)을 구비하는 것을 특징으로 하는 서보 모터 및 인코더 진단 장치에 관한 것으로, 서보 모터 및 인코더를 데스트하기 위하여 서보 모터와 인코더를 장비로 부터 해체하는 작업이 불필요하여 서로 모터 및 인코더의 불량유·무 판단이 용이함으로써 장비의 다운 시간 감소와 서보 모터 회전수의 정확한 모니터링에 의하여 장비의 신뢰성을 향상시키는 특유의 효과가 있는 서보 모터 및 인코더 진단 장치에 관한 것이다.

Method of servomotor control

내용없음. None.

METHOD AND SYSTEM FOR CONTROLLING AT LEAST ONE HOOD ACTUATOR OF A THRUST INVERTER FOR TURBOJET ENGINE

Linear-motor control circuit

The concordance of monitoring robot sensor

与机器人或其子系统(例如与机器人接头相关的串联弹性致动器)相关的传感器能被用于针对利用一个或更多个约束的相互一致性进行监测，该约束将传感器测量的物理量彼此相关。约束可以基于机器人或子系统的物理模型。

Determination and optimization of work accuracy in machine tools or robots

본 발명의 목적은 작업 정확도의 결정 및 최적화를 위해 표준위치 측정시스템을 활용하는 것이다. 이 목적을 위해 위치 측정에서 임의의 다수 축의 경로정보가 소정 측정간격으로 스캔닝되여 저장된다. 얻어진 테이터는 신호처리 조치로 변환 진행되며, 실질 작업 정확도의 결론과 비정확도의 원인을 도출해 낼 수 있다.

Traceability system for injected parts (Machine-translation by Google Translate, not legally binding)

The traceability system for injected parts comprises a traceability calendar (1) indicating a date and time placed visibly on an injection machine; a data control module (2) connected to the traceability calendar (1); and one or more daters (3) that mark the day and/or the month and/or the year in an injected piece. It allows to provide a traceability system for injected parts that is sufficiently reliable and that facilitates or makes automatic the task of changing the date of the dater with the greatest possible precision. (Machine-translation by Google Translate, not legally binding)

Digital 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。

Detector of abnormal speed of operation for robot

(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 maintenance assist device and method

본 장치는, 로봇 구동계(R1)를 구성하는 서보모터의 전류 지령값에 대해 취득한 데이터를 기억하기 위한 취득 데이터 기억 수단(4)과, 취득 데이터 기억 수단(4)에 기억된 전류 지령값의 데이터에 의거하여 전류 지령값의 장래의 변화 경향을 진단하기 위한 경향 진단 수단(5)과, 경향 진단 수단(5)에 의해 얻어진 전류 지령값의 장래의 변화 경향에 의거하여, 전류 지령값이, 미리 설정된 값에 도달할 때까지의 기간을 판정하기 위한 수명 판정 수단(6)을 구비한다. 로봇 구동계의 잔여 수명을 정밀도 좋게 예측할 수 있다.

Control system controller

Tool path generation device, tool path calculation method, and tool path generation program

Feed speed control device for movable support

Control device and control method for elastic actuator drive mechanism, and control program

An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.

Method and apparatus for monitoring motor-driven device part

本发明涉及一种监测可电机驱动的设备部分(7)的方法及相关的装置。本方法包括下列步骤：-在所述设备部分(7)至少一个编码的可规定的运动过程中的第一时刻，确定(100)至少一个设备部分(7)的第一加速度值(A1)，-在所述设备部分(7)至少一个可规定和编码的运动过程中的第二时刻，确定(101)所述至少一个设备部分(7)的第二加速度值(A2)，以及-当第二加速度值(A2)可规定的数值处于第一加速度值(A1)可规定的公差范围(T)之外时，输出(102)故障信号(E)。本发明带来的优点是，对于因机械部分磨损引起的设备部分运动过程的变异，例如不希望的振动，可以早期识别并能及时采取相应的维修措施。

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Medical robotic system with sliding mode control

A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Servo motor load condition diagnostic device and load status diagnostic method

Method of warning detection of failure in the device, computer program, system and module for warning detection of failure in the device

FIELD: information technology. SUBSTANCE: method is performed in at least one observable device in a group comprising at least two devices, the observed device has at least one first parameter correlated with at least one second parameter of the at least one second device in the group, mentioned parameters represent the state variables of the mentioned devices. The method comprises: predicting the value of the first parameter based on the measured value of the second parameter; comparison of the predicted value of the first parameter and the measured value of the first parameter; and analysis of the result of the comparison carried out at the comparison stage in order to detect a potential failure. EFFECT: providing preventive failure detection. 15 cl, 5 dwg, 1 tbl РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 628 146 C2 (51) МПК G06F 11/00 (2006.01) G05B 23/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21)(22) Заявка: 2014119873, 16.10.2012 (24) Дата начала отсчета срока действия патента: 16.10.2012 (72) Автор(ы): АМУССУГА Эрик (FR), ТИЛЛО Ив (FR) (73) Патентообладатель(и): АЛЬСТОМ ТЕКНОЛОДЖИ ЛТД (CH) Дата регистрации: (56) Список документов, цитированных в отчете о поиске: US 2002066054 A, 30.05.2002. US Приоритет(ы): (30) Конвенционный приоритет: 17.10.2011 FR 1159360 (45) Опубликовано: 15.08.2017 Бюл. № 23 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 19.05.2014 (86) Заявка PCT: EP 2012/070455 (16.10.2012) (87) Публикация заявки PCT: 2 6 2 8 1 4 6 (43) Дата публикации заявки: 27.11.2015 Бюл. № 33 2011154119 A1, 23.06.2011. US 2007108991 A1, 17.05.2007. US 2002128731 A1, 12.09.2002. SU 1629898 A1, 23.02.1991. RU 2164009 C2, 10.03.2001. R U 15.08.2017 2 6 2 8 1 4 6 R U Адрес для переписки: 129090, Москва, ул. Б. Спасская, 25, строение 3, ООО "Юридическая фирма Городисский и Партнеры" (54) СПОСОБ ПРЕДУПРЕДИТЕЛЬНОГО ОБНАРУЖЕНИЯ ОТКАЗА В УСТРОЙСТВЕ, КОМПЬЮТЕРНАЯ ПРОГРАММА, СИСТЕМА И МОДУЛЬ ДЛЯ ...

The fault detecting device of servo motor and encoder

To provide a servomotor and encoder diagnostic apparatus to discriminate whether a encoder used for a servomotor and a detection of the rotation number of servomotor is normal or abnormal. The servomotor and encoder diagnostic apparatus consists of motor power supply part encoder power supply part, wave form fixing part(101)(102), control part(200), channel selection part(300), counting part(400), indication part(100). The motor power supply part is to operate the servomotor. The encoder power supply part is to operate the encoder. The wave form fixing part(101)(102) fixes multiple channel signals to the wave forms of stable signal. The control part(200) is to output count up/down signal and channel selection signal according to the output signals from the wave form fixing part. The channel selection part(300) selects and outputs a channel signal among the multiple signals, receiving the channel select signal. The counting part(400) provides numerous counter to proceed up-count or down-count according to the count up/down signal. The indication part(100) furnishes a multitude of indication components to indicate a counted value, receiving the output of counting part. Thereby, it is possible to easily test the servomotor and encoder without the necessity of taking the equipment to pieces, and to provide high confidence for the equipment by reduction of downtime in the equipment and exact monitoring of rotation number in the servomotor.

Methods and systems to control a shaping tool

A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.

System for validating validity of sensor using control limit and method thereof

본 발명은 관리 한계를 이용한 센서 유효성 검증 시스템 및 그 방법에 관한 것이다. 본 발명에 따르면, 센서 데이터의 모수에 대한 사전 분포와 상기 센서의 과거 데이터를 이용하여 상기 모수의 사후 분포를 베이지안 기법으로 추정하는 단계와, 상기 모수의 사후 분포에 대해 목표로 하는 신용구간을 설정하고 상기 설정한 신용구간을 이용하여 센서 데이터의 관리 한계선을 설정하는 단계, 및 상기 센서의 현재 측정 데이터가 상기 관리 한계선을 이탈하는지 여부를 모니터링하여 상기 센서의 유효성을 검증하는 단계를 포함하는 관리 한계를 활용한 센서 유효성 검증 방법을 제공한다. 본 발명에 따르면, 베이지안 추론을 기반으로 관리 한계를 설정하고 이를 이용하여 현재의 센서 데이터로부터 센서의 유효성을 보다 신뢰성 있게 검증할 수 있도록 한다.

Indexing control device for intermittently revolving body

Abnormal detection / diagnosis method and automatic cleaning method of servo control system

전원투입후의 최초의 가속도에 있어서, 서보모터단자의 U상, V상에 흐르는 전류를 검출하고, 그 전류파형의 패턴을 감시함으로써, 모터출력단자의 오결선을 검출한다.

System and method for controlling pusher parameters to adjust the placement of glass containers on a conveyor

The invention relates to a system for correctly placing glass containers formed by the sections of an I.S. machine onto a conveyor. A pusher mechanism (138) moves containers from a deadplate to the conveyor. A container placement measurement system (142) provides a measured placement signal (144) indicative of the actual locations of containers moved onto the conveyer by the pusher mechanism. A summer (148) compares the measured placement signal (144) with a desired container placement signal (146) and generates a container placement error signal (150). A control system (152, 159, 156) uses the error signal (150) to provide modified pusher parameters to vary the operation of the pusher mechanism in a manner that will cause the error signal to be diminished.

Target signature closed loop control system and method

A system and a method for improving process yield and quality while reducing dependence on operator skill by automatically adjusting I.S. machine timing and motions. Container pixel data information (36) indicative of certain measurements of hot glass containers (32) manufactured by the I.S. machine obtained with a multipoint, multispectral glass container measurement system is mathematically transformed into a reduced dimensional measured signature (40). Event timing signals (58) to operate the cavities of the section of the I.S. machine in response to the measured signature (40) and a preferred target signature (46) are produced to automatically adjust the event timing of operations in the cavities of the section of the I.S. machine to diminish variations in the measured signature (40).

System and method for controlling pusher parameters to adjust the placement of glass containers on the conveyor

A system and method for automatically adjusting the motion and timing of pusher mechanisms in an I.S. machine to maintain desired spacing and lateral alignment of glass containers on a conveyor taking them from the I.S. machine where they are molded. The measured glass container placement and the desired glass container placement are used to vary the operation of the pusher mechanisms in a manner tending to obtain the desired placement.

Target signature closed loop control system and method

A system and a method for improving process yield and quality while reducing dependence on operator skill by automatically adjusting I.S. machine timing and motions. Container pixel data information indicative of certain measurements of hot glass containers manufactured by the I.S. machine obtained with a multipoint, multispectral glass container measurement system is mathematically transformed into a reduced dimensional measured signature. Event timing signals to operate the cavities of the section of the I.S. machine in response to the measured signature and a preferred target signature are produced to automatically adjust the event timing of operations in the cavities of the section of the I.S. machine to diminish variations in the measured signature.

Target signature closed loop control system and method

Patent FR2265213A1

METHOD FOR PREVENTIVELY DETECTING FAILURE OF AN APPARATUS, COMPUTER PROGRAM, INSTALLATION AND MODULE FOR PREVENTIVELY DETECTING FAILURE OF AN APPARATUS

Procédé de détection préventive d'une panne d'au moins un appareil à surveiller d'un groupe comprenant au moins deux appareils, l'appareil à surveiller comportant au moins un premier paramètre corrélé avec au moins un deuxième paramètre d'au moins un deuxième appareil du groupe, Lesdits paramètres représentant des variables d'état desdits appareils. Le procédé comportant les étapes suivantes : prédire une valeur du premier paramètre à partir d'une valeur mesurée du deuxième paramètre ; comparer la valeur prédite du premier paramètre à une valeur mesurée du premier paramètre; et analyser le résultat de la comparaison effectuée à l'étape de comparaison pour détecter une possibilité de panne. L'invention concerne également un programme d'ordinateur, une installation et un module de détection préventive d'une panne d'un appareil. Method for the preventive detection of a failure of at least one device to be monitored in a group comprising at least two devices, the device to be monitored comprising at least a first parameter correlated with at least a second parameter of at least a second parameter group apparatus, said parameters representing state variables of said apparatuses. The method comprising the steps of: predicting a value of the first parameter from a measured value of the second parameter; comparing the predicted value of the first parameter with a measured value of the first parameter; and analyzing the result of the comparison made in the comparing step to detect a possibility of failure. The invention also relates to a computer program, an installation and a module for detecting a failure of a device.

METHOD OF ESTIMATING MOTION OF A POLY-ARTICULATED MASSIC OBJECT

PROCESS FOR RECTIFYING CYLINDRICAL PARTS WITH SHOULDERS

L'invention concerne une rectifieuse. Elle se rapporte à une rectifieuse dans laquelle la meule 62 se déplace suivant un trajet 78 qui fait un angle aigu avec l'axe de rotation de la pièce 50. La meule a deux surfaces de coupe 130 et 138 destinées à rectifier respectivement des épaulements et des surfaces axiales de la pièce 50, par déplacement de la meule suivant son trajet et par déplacement de la pièce sur son chariot 34. Application à la rectification de pièces cylindriques ayant des epaulements. The invention relates to a grinding machine. It relates to a grinding machine in which the grinding wheel 62 moves along a path 78 which forms an acute angle with the axis of rotation of the workpiece 50. The grinding wheel has two cutting surfaces 130 and 138 intended for respectively grinding shoulders and of the axial surfaces of the part 50, by movement of the grinding wheel along its path and by movement of the part on its carriage 34. Application to the grinding of cylindrical parts having shoulders.

PERFECTED MONITORING DEVICE FOR SLAVE SYSTEMS

Appareil de surveillance d'un système asservi dont la tolérance correspond à l'erreur de décalage statique et à l'erreur de traînée de vélocité du système asservi. Appareil permettant de maintenir une tolérance statique étroite sans fausses alarmes dans des conditions dynamiques en utilisant le signal de rétroaction de vitesse du système asservi délivrer un signal de surveillance qui est compensé par l'erreur de traînée de vélocité.

DEVICE FOR MAINTAINING, IN A REMOTE CONTROLLED MANNER, THE PARTS OF A PROTECTED NUCLEAR FACILITY IN GOOD CONDITION

L'INVENTION CONCERNE UN DISPOSITIF POUR MAINTENIR, DE FACON TELECOMMANDEE, EN BON ETAT DES PARTIES D'UNE INSTALLATION NUCLEAIRE PROTEGEE. DANS CE DISPOSITIF SERVANT A CONTROLER LA POSITION D'UN BRAS ARTICULE, A L'AIDE D'UN PREMIER RESOLVEUR 13, IL EST PREVU UN SECOND RESOLVEUR 19 MONTE COAXIALEMENT AVEC LE PREMIER RESOLVEUR ET COMPORTANT, SUR SON ARBRE 21, UN DISPOSITIF 23, 25 ENTRAINE EN ROTATION PAR L'ARBRE 21 PAR RAPPORT A UN REPERE DE ZERO 27, DONT L'EXPLORATION PERMET DE DETERMINER LA POSITION REELLE DE L'ARBRE 15 DU PREMIER RESOLVEUR 13 ET DONC LA POSITION REELLE DU BRAS ARTICULE A CONTROLER. APPLICATION NOTAMMENT AUX SYSTEMES SERVOMANIPULATEURS D'INSTALLATIONS DE RETRAITEMENT DE COMBUSTIBLES NUCLEAIRES IRRADIES. THE INVENTION RELATES TO A DEVICE FOR MAINTAINING, BY REMOTE CONTROL, IN GOOD CONDITION PARTS OF A PROTECTED NUCLEAR INSTALLATION. IN THIS DEVICE SERVING TO CONTROL THE POSITION OF AN ARTICULATED ARM, USING A FIRST RESOLVER 13, A SECOND RESOLVER 19 IS PROVIDED COAXIAL WITH THE FIRST RESOLVER AND INCLUDING, ON ITS SHAFT 21, A DEVICE 23, 25 DRIVEN IN ROTATION BY SHAFT 21 WITH RESPECT TO A MARK OF ZERO 27, EXPLORATION OF WHICH ALLOWS TO DETERMINE THE REAL POSITION OF THE SHAFT 15 OF THE FIRST RESOLVER 13 AND THEREFORE THE REAL POSITION OF THE ARTICULATED ARM TO BE CONTROLLED. APPLICATION IN PARTICULAR TO SERVOMANIPULATOR SYSTEMS OF IRRADIED NUCLEAR FUEL PROCESSING PLANTS.

METHOD AND SYSTEM FOR DIAGNOSING THE OPERATING STATE OF A SCREWDRIVER SERVES A VEHICLE ASSEMBLY LINE.

Patent FR2487552B1

Actuator control device

Robot system

DEVICE FOR HOLDING, IN A REMOTE CONTROLLED WAY, IN GOOD CONDITION THE PARTS OF A PROTECTED NUCLEAR INSTALLATION

Life estimation device and machine learning device

A device that estimates a life of a clamping mechanism clamping rotation of a rotary table includes a machine learning device. The machine learning device observes operating state data of the rotary table and operation history data of the rotary table as a state variable indicative of a current state of an environment, and acquires life data indicative of the life of the clamping mechanism as label data. In addition, the device uses the state variable that has been observed and the label data that has been acquired and learns the operating state data and the operation history data and the life data in association with each other.

Decentralized error response in cam disk axes

The invention relates to a method for error response when an error occurs in response to a motion, particularly of a drive mechanism in a machine, the motion taking place while using at least one master axis and at least one cam disk having at least one input and one output and being controlled by the master axis, in which, in response to the occurrence of the error at the least one input of the at least one cam disk, current process variables that are present are used for the initiation and the execution of the error response. The invention also relates to a corresponding computer system.

Positioning control device and positioning control method

A positioning control device and method in which the relative position error in position follow-up is reduced by using the periodicity of position fluctuation. The positioning control device comprises a position sensor for measuring the error of relative positions of the desired position of an objective member and a moving member, an adder for adding the position error signal outputted from the position sensor and a delay signal, a signal delay means for outputting a delay signal delayed by the period of the position fluctuation of the objective member upon receiving the output of the adder, a drive means for moving a moving member, and a means for inputting the signal of the sum of the position error signal and the delay signal to the drive means and addition-inputting the delay signal through a filter having a predetermined frequency characteristic in a specific frequency range to the drive means.

Abnormalness detecting method