Fanuc Corporation

Fujitsu Fanuc Limited

Nobutoshi Torii

Ryo Nihei

Akihiro Terada

Kenichi Toyoda

Hitoshi Mizuno

Susumu Ito

Seiichiro Nakashima

Masayuki Hamura

Tetsuaki Kato

Yasuo Naito

Hajimu Inaba

Hiroshi Wakio

Kazuhisa Otsuka

Akira Tanaka

Yasuo Sasaki

Kyoji Iwasaki

Satoshi Kinoshita

Kyozi Iwasaki

Mitsuhiro Yasumura

Shigehiro Morikawa

Yuichi Kanda

Jun Kikuchi

Shinsuke Sakakibara

Toru Mizuno

Shigemi Inagaki

Masanao Miyawaki

Kunio Ueda

Toshihiko Inoue

Tatsuo Karakama

Tohru Mizuno

Tamotsu Sakai

Masahiro Hagihara

Hitoshi Ozaki

Tyo Nihei

Masano Miyawaki

Katsuyuki Muraki

Tetsukai Kato

An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.

Adaptive PI control system

A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on 0 (130, 131). The servo system properly follows the command even when nonlinear parameters associated with the spring element of the machine have varied, thereby preventing vibration of the machine.

Sliding mode control method for a machine having an operating section

Apparatus for monitoring a guard window of an arc sensor

A sliding mode including a process of feeding back an amount of twist for controlling a servo loop is controlled by reading the position of a servomotor and the position of a mechanical actuator drivable by the servomotor (SP1), calculating an amount of twist which is an error (SP2), calculating a switching surface Suf with a value produced by filtering the amount of twist (SP3), and selecting a switching input with the produced value (SP4, SP5, SP6). The amount of twist is filtered by a filter which has a numerator and a denominator which are of a first order. The filter allows a system to be realized which suffers less vibration and is robust against inertia fluctuations.

Method of executing sliding-mode control including twist feedback

Robot control method based on an acceleration/deceleration time constant

Industrial robot with workpiece handling means for attaching a workpiece

Piping arrangement for a laser robot wrist

Apparatus for holding stacked workpieces and feeding the same

A sealing gun (31) of a sealant application unit, which controls the flow of the sealant in accordance with the value of an input signal, is attached to the end of a robot arm. The value of a signal applied to the sealant application unit (30) is controlled in association with acceleration/deceleration control of the moving speed of the sealing gun. The moving speed (TSA) of the sealing gun and the flow (SC) of the sealant discharged from the sealing gun are in direct proportion; therefore, the bead width becomes uniform independently of the moving speed (TSA) of the sealing gun.

Sealant flow control method in sealing by an industrial robot

Industrial robot with means for cooling a linear motion nut and screw

High-density installation type robot

Industrial robot with a compound drive mechanism

A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

Wrist mechanism for an industrial robot

Method of adjusting an optical path followed by a laser beam in a laser

Industrial robot with cable arrangement system

Growing community of inventors

Hachioji, Japan

Nobutoshi Torii