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WO/1994/027201A1 |
In a control for a drive pressurised by a working fluid, the working fluid flows through an eletrovalve which determines the amount of working fluid to be suplied to the drive. The electric signal which controls the valve is generated by...
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WO/1994/025910A1 |
While the motor travels by a distance (a) after the sign of a move command is inverted (S1 and S2), a first offset amount Vmo is added to the speed command in order to accelerate the inversion of the sign of the integral value of the spe...
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WO/1994/023204A1 |
A method of measuring a distance (X) at closest approach between a piston (1) of a free piston compressor and a cylinder head. The method derives measurements of both alternating and average components of piston position from direct meas...
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WO/1994/019733A1 |
A leadscrew driving arrangement which is corrected to eliminate the effect of pitch errors. The leadscrew (32) is mapped to create a table of differences between the leadscrew angular of a perfect leadscrew which has been advanced the sa...
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WO/1994/019732A1 |
The invention relates to a device for reducing oscillations of a robot. An acceleration pattern is subjected to Fourier transform to provide a power spectrum distribution. A component of a resonant frequency (fn) is removed from the powe...
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WO/1994/019051A1 |
A flexible VLSI film containing shape memory alloy SMA actuator elements (105) and associated control and driver circuitry is wrapped around any bendable element such as a flexible, hollow tube, catheter tube or the like. The SMA actuato...
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WO/1994/015758A1 |
A system and method for seam tracking in real time without path preprogramming uses as least two degrees of freedom and at least one degree of freedom created by a redundant axis. A robot can be used to weld or apply adhesive or sealant ...
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WO/1994/016368A1 |
A heat sink (14) provides thermal communication between an actuator (18) and fluid controlled by a valve (12) which is flowing through a conduit (10). The actuator includes a vessel which is defined on its largest surfaces by plates (22,...
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WO/1994/012916A1 |
This invention provides an acceleration/deceleration control method for a servo motor which can ease impact to a servo motor and each mechanical component without particularly increasing a time required for acceleration/deceleration. Acc...
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WO/1994/002989A1 |
This invention relates to a method of obtaining an extremely robust adaptive PI control method even when any parameter fluctuation exists in a control object. Estimation values J*, A*, Gr* and Cf* of an inertia, a coefficient of dynamic ...
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WO/1993/025865A1 |
Position detection system for a body which changes position, comprising a series of markings made at a mutual distance from one another and a scanner unit, which is movable with respect to said series of markings, for scanning said marki...
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WO/1993/024875A1 |
This method is to reduce the positional errors by compensating for the delay in the rising torque of servo systems when the change in acceleration by an instruction is great. This control method comprises the steps of pre-smoothing (7) f...
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WO/1993/021735A1 |
The stored robot control program defining the path of movement of a robot arm (64) carrying a video camera (52) is synchronized to time code information recorded on a video tape. Video signals from the video camera are recorded on the vi...
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WO/1993/019408A1 |
Control device for maintaining an object in a given position comprising a motor (M), an encoder (1) and a circuit (2, 100, 5) for generating a signal for correcting the position of an object, said circuit comprising elements (2, 4) for g...
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WO/1993/018445A1 |
A control system, more especially for use in a glassware forming machine, to control movement of a driven member (12), for example carrying molten glass, between first and second rest positions, wherein the member is driven via a pneumat...
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WO/1993/016424A1 |
A method for controlling servomotors, wherein the differences among the dynamic characteristics of machines are absorbed by a controller, and the dynamic characteristics are so corrected that they are equalized to each other substantiall...
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WO/1993/015876A1 |
A main spindle positioning method which makes the most of deceleration of a spindle motor and speeds up a spindle positioning operation. It is assumed that the spindle motor is running under speed control. In response to a command for a ...
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WO/1993/016423A1 |
An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error epsilon between an instruction position and a motor position, a speed error epsilo...
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WO/1993/015549A1 |
A servo control method capable of raising a band of speed loop stably and setting position loop gain to a satisfactory level. A torque command from a speed loop is sent through a filter whose transfer function has a numerator of the seco...
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WO/1993/009920A1 |
A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on wh...
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WO/1993/010489A1 |
A method of controlling a servomotor adapted to accelerate the convergence of deviations of position and speed, having excellent response and a high resistance to disturbance and free from mechanical resonance. When a torque command Tc1 ...
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WO/1993/009378A1 |
A solar panel unit includes a solar panel (10) supported for rotation about a frame (13) and driven around the frame (13) by an electric motor (14). Radiation sensors (22) and (23) have their planar axes equally and oppositely off-set fr...
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WO/1993/008958A1 |
A method of accurately detecting the abnormality of a load, such as the fusion at a free end of a spot gun. In this load abnormality detecting method, while a flag F2 which is set to ''1'' when an instruction for moving a movable mechani...
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WO/1993/004339A1 |
A method of diagnosing operational conditions of a real time sensor by storing data obtained therefrom during the operation of a robot. This method includes such steps that: data on the cross section of an object is obtained by scanning ...
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WO/1993/002832A1 |
A method of non-contact copy control, capable of effectively copying with a discontinuous shape such as a difference in level in a model form, wherein, when an undetectable signal is input from a non-contact type distance sensor (5a) due...
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WO/1993/002425A1 |
In a die cutting press (16), a registration system for successively positioning a die unit (34) in predetermined relationship to defined areas of an elongated material (56) includes servomotors (60, 68) for moving the die unit (34) in a ...
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WO/1993/001534A1 |
A method for starting back-lash correction at an optinum point ahead of a predetermined time from the point of reversal of a speed command without being affected by a feed speed, etc. A moving command of one previous cycle is subtracted ...
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WO/1993/001029A1 |
A method of automatically effecting calibration between an image processor and an automatic machine. Data of a calibration jig and a position of a robot to which is fitted a jig capable of imaging by a a camera at the time of calibration...
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WO/1992/021074A1 |
An acceleration/deceleration time constant control system which determines an optimum acceleration/deceleration time constant of a servo motor for each block by a moving distance, a load, etc., and shortens a machining time. Whether or n...
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WO/1992/021072A1 |
A fast and effective way to step a relative position quantity by a reference interval. Each step in relative position includes open-loop and closed-loop control intervals. An actuator (27) capable of changing the relative position and a ...
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WO/1992/020993A1 |
A position detection method featuring improved detection precision for a laser sensor that uses CCD as a light-receiving element in the laser sensor, and a device therefor. The sum of products of cell outputs (Ci) and cell positions (Xi)...
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WO/1992/021078A1 |
A method of controlling a servomotor capable of easily introducing a sliding mode control by utilizing a conventional linear control technique. A phase plane in the sliding mode is treated as in the linear mode, and the torque instructio...
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WO/1992/020019A1 |
A method and apparatus for prediction repetition control of a servo motor which can converge a position error to zero even for an instruction repeated in a predetermined cycle and containing asynchronous components out of synchronism wit...
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WO/1992/015838A1 |
Calibration is effected only once at a given position, enabling the position of an object to be detected at any other position, i.e., enabling the position of the object to be detected over a wide range. Calibration data (CDA) (32) are o...
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WO/1992/014195A1 |
Oscillation is suppressed by a state feedback in which a special filter is applied to the amount of twist and the speed of twist of a control object such as a robot that has a low-frequency oscillation system. The amount of twist epsilon...
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WO/1992/010797A1 |
Proposed is a method of determining parameters for the pilot-control of the position-control signal for one axis of a machine tool with numerical continuous-path control. If, for the ith axis, the pilot-control parameters are known up to...
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WO/1992/006420A1 |
A method and apparatus for accurately and reliably positioning an actuator arm (12) is disclosed. The actuator arm (12) is driven by a conventional DC motor (38). The conductors which supply current to the motor (38) serve as primary win...
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WO/1992/006421A1 |
The actuator element of an electromagnetic transducer designed to convert electric current into a corresponding mechanical parameter, such as an oil pressure, a displacement or force, suffers from hysteresis effects which the invention r...
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WO/1992/004666A1 |
A positioning control for linearly displacing an object (31) has a direct current motor (1) and a gear (2, 21) for converting rotary into linear motion, a current supply (4) of current pulses having given frequency, amplitude and duratio...
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WO/1992/002871A1 |
A computerised motion control apparatus for controlling a plurality of degrees of freedom of the positioning and orientation of a camera. The apparatus including a dolly (71) positionable by drive means along an extensible track arrangem...
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WO/1992/000167A1 |
A method of detecting a shift in a camera position for detecting a shift in a camera position in a robot system. Before the start of operation of a robot, a fixed point for recognition is picked up by a camera to obtain image pick-up dat...
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WO/1991/020020A1 |
A coordinate positioning machine (20) is equipped with either an optical probe or a contact measuring probe (40). Movement of the head (22) of the machine to enable the probe (40) to scan an unknown surface is controlled by predicting th...
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WO/1991/018717A1 |
An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival spe...
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WO/1991/019235A1 |
A system for controlling the compliance of a servo control system. The servo control system is controlled in a sliding mode (SP1, SP2, SP3), and a changing over surface (Suf) of the sliding mode control according to the deviations of the...
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WO/1991/018333A1 |
A lithographic system (10), having a stepper (16) on a block of granite (12) attached to the ground using isolation legs (32), includes a servo control system (34, 38, 40) for providing signals to a motor (18) associated with the stepper...
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WO/1991/013489A1 |
A method of learning a feed-forward gain in motor control of a control system in which a load inertia fluctuates drastically. The feed-forward gain K is determined by learning in accordance with the following formula: (dK/dt) = [VER*(dU/...
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WO/1991/012493A2 |
An apparatus for measurement of absolute position of a movable machine member is provided. The machine member is moved by a motor and reduction device producing rotation of the machine member in proportion to relative rotation of the mot...
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WO/1991/011298A1 |
A teleoperation system includes a master station (200) having an operable master link (204) coupled to a master actuator (208) which provides force resistance to operation and movement of the master link (204) in response to command sign...
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WO/1991/010948A1 |
A ten axes control system controls the position of two respectively independent machines with associated sensors, whereby the sensors are arranged to move relative to and in opposite sides of a component in timed sequence. The control sy...
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WO/1991/010178A1 |
The invention relates to a process for controlling an actuator which can be adjusted by means of a proportional valve controlled by two control magnets with counteracting control pulses. The phase angle between the control pulses is vari...
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