Mitsubishi Electric Corporation

Mitsubishi Denki Kabushiki Kaisha

Kiyoshi Maekawa

Hidetoshi Ikeda

Koichiro Ueda

Yuji Igarashi

Kei Terada

Yuko Takehana

Masahiko Hirano

Akio Saito

Hiroyuki Sekiguchi

Takashi Isoda

Takashi Iwasaki

Tetsuaki Nagano

Shuya Sano

Koji Shiratsuchi

Yoshihiro Marushita

Takaya Yamamoto

Yoshitaka Uno

Takahiro Nakai

Takuya Okahara

Satoshi Mizogami

Satoru Matsuoka

Hideki Asoh

Emiko Hayasaka

Yuma Isobe

Kensuke Harada

Nanase Haruo

A robot controller includes: axis motor control units that control motors for driving axes of a robot; and an action command generation unit that generates a first action command having the shortest action time when the robot is moved from an action start point to an action goal point without considering an obstacle, and selects, from among the axes, a major axis having the longest action time when the action is performed in accordance with the first action command. The first action command includes another axis command, and a major axis command, and the action command generation unit adjusts the other axis command so as to reduce an action time according to the other axis command and outputs a second action command including the major axis command and the adjusted other axis command and corresponding to a first trajectory when determining that the first trajectory avoids a clash between the robot and the obstacle.

Robot controller, robot control method, and storage medium storing robot control program

It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus includes: a sensor data output unit that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot is controlled, the sensor data representing a state of work of the robot; and a determination unit that determines a quality of the work of the robot by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit.

Work determination apparatus and work determination method

A friction compensation device of the present disclosure includes a drive torque calculation unit that calculates output torque of a transmission mechanism from a motor's position, velocity, and acceleration, the transmission mechanism being connected to a motor via a shaft to transmit the driving force of the motor, and a friction estimate value calculation unit that calculates a friction estimate value that is an estimate value of a friction force on the shaft. The friction estimate value calculation unit includes a friction correction value calculation unit that calculates a friction correction value to correct the friction force on the shaft, in accordance with the output of the drive torque calculation unit.

Friction compensation device, and robot control device

An abnormality diagnosis apparatus includes: a friction identification unit that calculates a friction parameter that is a parameter used for calculation of frictional force of a power transmission mechanism connected to a motor; a model torque calculation unit that calculates model torque by performing a process of calculating an estimated value of torque of the motor by using a set value calculated in advance and the friction parameter; and an abnormality determination unit that diagnoses whether the power transmission mechanism is abnormal, on the basis of a result of comparison between the model torque and a motor torque detected by a motor torque detection unit.

Abnormality diagnosis apparatus and abnormality diagnosis method

An abnormality diagnosis apparatus includes: a model acceleration calculation unit to calculate model acceleration that is a predicted value of motor acceleration; a motor acceleration calculation unit to calculate the motor acceleration from one of position information and speed information on a motor; and an abnormality determination unit to diagnose whether a power transmission mechanism is abnormal on the basis of the result of comparison between the motor acceleration and the model acceleration.

A controller of an air-conditioning system includes a feedback control unit configured to generate a state quantity command from a control parameter and a difference between a target value of a room temperature and a measured room temperature and control the room temperature to the target value on the basis of the state quantity command, a control target heat characteristic model calculation unit configured to calculate a parameter of a model regarding a heat characteristic of a control target from at least a state quantity regarding an amount of heat supplied to the control target or the state quantity command, and the measured room temperature during normal operation, and a control parameter determination unit configured to determine the control parameter by using the parameter and a formula derived from the model regarding the heat characteristic of the control target.

Controller of air-conditioning system and method for controlling air-conditioning system

A servo controller is provided. The servo controller includes a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which generates a feedback input so that a control output of a plant follows the model output; and an adder which adds the model input and the feedback input. The reference model unit includes a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which outputs a past model input; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.

Servo controller

A motor control device includes an operation determination unit that determines whether a motor is in an operating state or in a stopped state based on an operation command signal or an operation signal and an amplitude estimation unit that, based on a determination result of the operation determination unit, sequentially estimates a vibration amplitude value from a control state quantity of a feedback control unit or a current control unit separately for a case where the motor is operated and a case where the motor is stopped and outputs the vibration amplitude value. A function of outputting an amplitude of a high-frequency vibration that occurs in a mechanical device including a control system as information useful for estimating an occurrence factor of the vibration is provided.

Motor control device

To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.

Motor controller

A positive & negative jerk interval parameter setting section divides an acceleration & deceleration interval of an acceleration command curve into an acceleration increasing interval, a constant acceleration interval, and an acceleration decreasing interval, and sets the length of time of each interval independently of each other. A positive & negative jerk interval trigonometric command generating section employs an acceleration command curve generated based on a trigonometric function of a &#xbd; cycle, thereby generating a position command or a speed command.

Command generator

A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.

A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v-vn, which is a difference between a target velocity vand a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.

Acceleration/deceleration control device

A computing unit simulates an ideal operation of a vibration excitation actuator by using at least a model operation parameter and the vibration-excitation movable mass data and calculates a parameter corresponding to acceleration/deceleration thrust for moving the vibration-excitation movable mass. A vibration isolation controller determines a control content of a vibration isolation driving unit based on the parameter corresponding to the acceleration/deceleration thrust and controls an operation of the vibration isolation driving unit so that a force canceling a reaction force, which acts on an apparatus when a vibration-excitation movable mass is moved, acts on the apparatus by moving the vibration isolation movable unit.

Vibration isolation control system

A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.

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Tokyo, Japan

Kiyoshi Maekawa