Title:
CONTROL DEVICE FOR INDUSTRIAL MACHINE
Document Type and Number:
WIPO Patent Application WO/2022/176784
Kind Code:
A1
Abstract:
Provided is a control device for an industrial machine that reduces a discrepancy between an actual forward path and an actual reverse path of a driven part. The control device controls movement of a moving part of the industrial machine on the basis of a program. The program includes an instruction relating to a movement path of the moving part in block units, and includes an instruction relating to the movement speed of the moving part. The control device is provided with an instructed path generation unit that generates an instructed path for the movement path of the moving part on the basis of an instruction of the program, an actual forward path prediction unit that predicts an actual forward path from the instructed path using a machine model relating to a transfer characteristic of the industrial machine, an instructed reverse path generation unit that generates an instructed reverse path by reversing the movement direction of the actual forward path, an actual reverse path prediction unit that predicts an actual reverse path from the instructed reverse path using the machine model, and an instructed speed adjustment unit that adjusts an instructed speed based on the movement speed indicated by the instruction of the program so as to reduce an error of the actual reverse path relative to the instructed reverse path, and generates an instructed reverse speed.
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Inventors:
YAGI JUN (JP)
Application Number:
PCT/JP2022/005494
Publication Date:
August 25, 2022
Filing Date:
February 10, 2022
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
G05B19/416
Foreign References:
| JP2016048512A | 2016-04-07 | |||
| JP2014078102A | 2014-05-01 | |||
| JPH08263121A | 1996-10-11 |
Attorney, Agent or Firm:
SHOBAYASHI Masayuki et al. (JP)
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