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SERVO CONTROLLER RELATED TO APPROACH AND/OR FOLLOW-UP CONTROL TO MOBILE OBJECT AND METHOD THEREFOR, ROBOT CONTROLLER USING THE SAME AND METHOD THEREFOR
SERVO CONTROLLER RELATED TO APPROACH AND/OR FOLLOW-UP CONTROL TO MOBILE OBJECT AND METHOD THEREFOR, ROBOT CONTROLLER USING THE SAME AND METHOD THEREFOR
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机译:与移动对象的接近和/或跟进控制相关的伺服控制器及其方法,使用其的机器人控制器及其方法
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PROBLEM TO BE SOLVED: To unify the control of approach and track to the object whose moving route can not be predicted and the control for moving the working end to be controlled to a static object or a fixed position. ;SOLUTION: When a command means 2 in a servo controller 1 generates a start command for approach to a moving object or follow-up control, a control command value calculating means 5 calculates a control command value to the operation end to be controlled so that a difference between the positional information of the moving object detected by the moving object detecting means 3 and the positional information of the working end to be controlled becomes zero. The servo controller 1 is also provided with a TP value determining means 6 for finding out peak speed arrival time TP from a control command value, an α value determining means 9 for determining the value of a time base extending/reducing parameter αdefined by dividing the TP value by its reference value, a Tf value determining means 7 for finding out bending time Tf related to a lamp position command from the control command value, and a modulation signal generating means 8 for generating a modulation signal by generating a lamp signal based upon the Tf value and superposing the position changing variable of the moving object to the lamp signal. An acceleration/deceleration pattern generating means 11 generates an acceleration/deceleration curve by controlling the height of the peak of an acceleration/deceleration curve or the width in a time base direction.;COPYRIGHT: (C)1997,JPO
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机译:解决的问题:统一对无法预测其移动路线的对象的进近和跟踪控制,以及将要控制的工作端移动到静态对象或固定位置的控制。 ;解决方案:当伺服控制器1中的命令装置2生成用于逼近运动对象或跟随控制的启动命令时,控制命令值计算装置5计算到要控制的操作端的控制命令值,从而由移动物体检测装置3检测到的移动物体的位置信息与要控制的工作端的位置信息之间的差为零。伺服控制器1还具有:TP值确定装置6,用于从控制命令值中找出峰值速度到达时间TP;α值确定装置9,用于确定时基扩展/减小参数α的值。 TP值以其参考值,T f Sub>值确定装置7,用于从控制命令值中找出与灯位置命令有关的弯曲时间T f Sub>,并进行调制信号发生装置8,用于通过基于T f Sub>值产生灯信号并将移动物体的位置变化变量叠加到灯信号上来产生调制信号。加速/减速模式产生装置11通过控制加速/减速曲线的峰值的高度或时基方向上的宽度来产生加速/减速曲线。COPYRIGHT:(C)1997,JPO
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