Abstract: Control of time-dependent states, such motion, is facilitated in a manner that avoids explicit solution to the governing equations, but which permits specification of both an initial and a final acceleration. This permits the operator to restrict jerk by exerting control over the final acceleration (e.g., by setting this equal to the initial acceleration, or constraining it to within an allowed maximum), but without explicitly computing parameter values for jerk. More generally, the approach is useful in controlling any system in which states evolve with respect to a specific parameter (frequently, but not necessarily, time), and whose evolution can be described by a defined set of algebraic equations.

Abstract: A control device which controls a tapping device provided with a feed motor for feeding a spindle in an axial direction thereof and a spindle motor for rotating the spindle about its axis. The spindle installs a composite tool having a boring section for forming a bore in a workpiece and a subsequent tapping section for forming a female thread at the bore. An asynchronous control is initially performed for independently controlling rotation of the feed motor and the spindle motor for boring. If the tapping section reaches the workpiece, a control is switched to a synchronous control for controlling the motors in synchronism with each other.

Abstract: A position control apparatus has a target setting unit for setting a target position in a direction of the control axis of the controlled object able to be moved in directions of a plurality of control axes by moving unit; a position control unit for independently positioning the controlled object to the target position in the direction of the control axis set by the target position setting unit; and a position correcting unit for correcting the target positions in directions of other control axes by compensation amounts for correcting positioning derivation in directions of other control axes occurring when positioning the controlled object to a first target position in the direction of one control axis among the plurality of control axes and then reversing the feed direction from that first target position and positioning to a second target position.

Abstract: A robot control system is provided which controls a plurality of servomotors for moving a hand and articulated arms of a robot. The robot control system includes a plurality of position detectors, a motor control driver, and a serial communication path. The position detectors detect rotational positions of the servomotors and output the rotational positions in the form of serial data, respectively. The serial communication path is disposed between the motor control driver and the position detectors to transmit request signals provided by the motor control driver to the position detectors to request the position detectors to output the rotational positions.

Abstract: An apparatus for controlling operation of a processing machine has a computer preferably with a computer aided design program configurable to model a kinematic velocity profile of a point of interest on a machine to be controlled. A graphical user interface on the computer enables an operator to select desired velocity points for a motor drive controlling motion of the point on the machine. A curve fit is applied to the velocity points to realize a desired velocity profile for the motor drive and the point on the machine. The desired velocity profile is then integrated and scaled in order to obtain a scaled velocity profile that realizes an actual, or target displacement of the point as dictated by operation of the machine. By controlling operation of elements of a machine with velocity profiles, coordination of associated elements and points on the machine can be visualized by an operator selecting the velocity points for each drive of the machine. A method for implementing same is also disclosed.

Abstract: In a servo system controller comprising a servo control section, a sequence control section, and a dual port memory, an event detecting unit for detecting generation of an event according to input information from an object to be controlled and an event processing program memory are provided in the servo control section, and an event processing program is executed by the event processing program memory upon interruption by the servo control section according to an output signal from the event detecting unit.

Abstract: A positioning control method (80) has a setting section (81) for setting a comparison reference value in accordance with a machine tool in advance, a detecting section (82) for detecting a command value by the rapid traverse command G00, a comparing section (83) for comparing the comparison reference value and the command value, and a determining section (84) for changing the rapid traverse command G00 to a linear interpolation command G01 when the command value is smaller than the comparison reference value, executing the rapid traverse value G00 when the command value is larger than the comparison reference value, and selecting either one of the rapid traverse command G00 or the linear interpolation command G01 when the comparison reference value is equal to the command value. Less effective short-distance rapid traverse command is converted to the linear interpolation command, thus speeding up positioning control to make an entire processing of the workpiece faster.

Abstract: A brushless direct current motor driving circuit includes a data generator adapted to receive a first signal corresponding to a rotor position and to generate a digital data signal therefrom, a clock signal generator adapted to receive phase voltage signals and back electromotive force (BEMF) signals from a motor and to generate a clocking signal therefrom, and a data output block coupled to the data generator and the clock signal generator and adapted to receive the data signal and the clocking signal such that the digital data is clocked into the data output block as a result of the BEMF signals to produce a frequency signal to be used in controlling the velocity of the rotor. Switching noise present together with the BEMF signals is rejected by the clock signal generator so that the frequency signal is substantially free from switching noise, thereby allowing a velocity controller to provide more precise velocity control of the rotor.

Abstract: A method is provided for adapting the side support, as a function of the driving situation and driving styles, of a person sitting in the seat of a vehicle, in which method a lateral acceleration acting on the seat is determined as reference variable for the adaptation. In order to allow greater allowance for the way in which the sitting person senses lateral acceleration, as well as a comfortable sitting sensation with the advantages of a necessary side support which is built up in curves at short notice, the specific instantaneous lateral acceleration is weighted with the instantaneous driving speed of the vehicle. A control variable for the degree of adaptation is derived therefrom. In addition, a supplementary control variable is determined which brings about support of the driver on both sides in the seat as a function of the driving style. A vehicle seat in which this method is applied is specified.

Abstract: A method and apparatus for programming the motion of a machine tool in a three-dimensional machining space defined by an X, Y and Z coordinate system, the machine tool having a spindle linearly displaceable in three orthogonal X, Y and Z axes. A probe, mounted in the spindle and coupled to transducers, is moved by hand through a desired cutting path for an actual part. A computer connected to the transducers moves the machine in the direction that the probe is moved and/or rotates a workpiece mounted in the machining space and selectively records the position of the probe and workpiece to create an NC parts program that replicates the cutting path motions.

Abstract: A conventional method for driving a servo-motor is carried out by means of a current feedback loop, using a current sensor and an A/D converter. In this conventional set-up, the number of parts was great, cost reduction was difficult and it was difficult to avoid control errors caused by errors in the precision of the current sensor.A method for driving a servo-motor of the present invention comprises freely setting the current control response of a servo-motor (4) by changing the time-constant .tau. using a calculation system Ra+Las, which is opposite with respect to the calculation system of the servo-motor (4), and a primary delay element 1/1+.tau.s.

Abstract: A method of controlling the positioning and/or speed of axes on a machine tool as well as an apparatus for carrying out the method. The inventive method controls the positioning and/or speed of fast-rotating, high-accuracy orbital axes (i.e. rotational axes) of a gear-manufacturing machine, wherein a standard NC is used. The inventive method and apparatus are realized by the inclusion of a second control system which is provided in addition to the standard NC and is structured such that the known aliasing effects generated by underscanning and the limitation of the dynamics by the cycle times are avoided or considerably reduced. By application of the inventive method, higher accuracy can be attained while maintaining the full functional scope of the standard NC.

Abstract: Robust Vibration Suppression methods and systems providing improved robustness range and are effective in single or multiple degree of freedom systems are disclosed. Methods disclosed include providing an output response from a physical system by selecting a command input to be applied to a physical system based on robustness and/or noise generation potential as determined by analyzing the frequency spectra of a derivative of the command inputs.

Abstract: A unified modular system of drives and controls for a mobile robotic application includes a first control module that covers a full range of commonly used speeds and motions. Second and subsequent drive modules can be chained to the first drive module for more complex motion control. Control modules for different functions can be interchangeably plugged into the first drive module to control lt he first drive module and the second and subsequent drive modules to enable the motor complex motions. The drive modules and control modules include a common bus that enables addition of new functions to create new machines for different applications.

Abstract: A spindle acceleration/deceleration controlling method in a numerical control unit comprising a spindle control section for controlling a spindle motor and a servo axis controlling section for controlling a servo axis motor, and for synchronously controlling the spindle and servo axis; wherein a spindle motor in the position loop control state is controlled with an acceleration/deceleration pattern similar to that of the spindle motor in the velocity loop control state.

Abstract: A method for determining the active power (P) of asynchronous electric motors of winning and conveying equipment in underground mining. According to the invention, particularly easy and accurate determination of the instantaneous active power of the motors is obtained by storing the individual motor characteristic (P(n); M(n)) of each motor in a computer, by detecting the instantaneous speed (n, n') of the motor with the aid of a tachometer and by comparing this speed with the characteristic stored in the computer, the active power being derived from the torque value or power value assigned to the detected instantaneous speed, as stored in the computer. This particularly rapid and simple calculation of the power value does not require any readings to be taken at the power supply to the motors.

Abstract: In an automatic wiring connection apparatus, position detection marks 221; 231 are disposed on matrix boards 220; 230, respectively, as shown in FIG. 8. Position data of a desired crosspoint hole included in anyone of areas 227.sub.-- 1, . . . , 227.sub.-- 5; 237.sub.-- 1, . . . , 237.sub.-- 4 as assembly of crosspoint holes is corrected in accordance with a difference between design values of the position detection marks 221; 231 and measured values. A pin insertion and pulling out robot is operated in accordance with the corrected position data.

Abstract: An earth moving or construction equipment implement control system is disclosed. The control system includes a fuzzy logic controller that is connected to an electro-hydraulic valve. An implement position sensing system senses the height of the implement. A set point is compared to the implement position to produce an implement position error signal which is an input to the fuzzy logic controller.

Abstract: A CNC apparatus (10), wherein a PC circuit (300) for sequence control of a peripheral device is provided in addition to a PC circuit (200) for sequence control of a machine (60) to be numerical controlled. The sequence programs executed by the respective PC circuits are made capable of independently inputting to and outputting from EEPROMs (240, 340) and also made capable of independently editing and diagnosing. Further, signal transmission and reception between the PC circuits (200 and 300) so that both the sequence programs can be executed coordinately with each other.

Abstract: A method and apparatus for displaying and entering information associated with structures in a machining system, wherein each structure is associated with at least one setup in the machining system, and can be, for example, a pallet, fixture, or workface. A user interface receives the structure information from the user and displays at least a portion of the information, along with a structure icon, within a window on a display device. Preferably, the location of the tool in the machining system is also displayed within the window along with a machine configuration image which represents the configuration of the machining system. The structure information preferably includes the offset coordinates for the structure. Upon request from the user, setup icons and setup information for the setups associated with the structure can be displayed.

Abstract: An all digital control method for motor drivers eliminates physical motor current sensing. The motor and the driver are modeled to estimate the actual current and the estimated current is used to perform motor control. This provides simplified driver circuitry. Driver non-linearity due to driver dead time may be compensated and minimum driver on times are accommodated while providing good waveform fidelity, minimized motor heating and increased motor system damping.

Abstract: A method and system for accurately controlling a position of a servo motor in a vehicle speed control system for various operation conditions includes predetermined parameters of a polynomial which define desired positions of a servo motor for various vehicle speeds under normal operation conditions. A sensor senses a speed of the vehicle and generates a corresponding speed signal. A controller determines an initial desired position of servo motor based on the speed signal. The controller also determines whether the operation condition of the vehicle has deviated from the normal operation condition, and if so, determines a revised desired position of the servo motor based on the actual position of the servo motor and the initial desired position of the servo motor. Finally, the controller controls the servo motor based on the revised desired position of the servo motor.

Abstract: A database, in which information an NC apparatus needs in machining products is accumulated for each product, is set in a hard disk connected to the NC apparatus. In this database, products are represented by numbers assigned to them. When an operator specifies a product number, information required for machining of the product corresponding to that number is retrieved and extracted from the database to be automatically transferred to a predetermined memory of the NC apparatus.

Abstract: The network (N) links control modules (CM) of a device (M) on the basis of a common instruction and of a quantity measured by a sensor (S) associated with a measurement module (MM). The instruction is formulated in the measurement module and broadcast over the network by the measurement module together with the measurement value.

Abstract: A numerical control apparatus and a numerical control method is provided which permit high-accuracy and high-velocity travel at a joint between paths as well as simple and rapid calculations for this purpose. A path is inserted at the joint between the paths so as to achieve a continuous curvature.

Abstract: A robot system and its control method making it possible to easily stabilize a working attitude when working with predetermined legs by a simple structure by using a plurality of legs moving while supporting a body. The number of portions requiring position control can be decreased by grounding a predetermined portion not grounded when moving all or some of legs other than predetermined legs used for working and/or a predetermined portion of a body.

Abstract: A manually-operated handwheel interpolation generating device mainly makes use of a set-up of pulse adjuster to be used by the operators to perform smoothing dressing for the handwheel's pulse command when they are using handwheel to perform post-stage precision machining so as to upgrade the precision level and surface roughness of workpieces, and said pulse adjuster comprises a handwheel interpolation generator which mainly makes use of a pulse smoothing dresser to attain the object of smoothing dressing, thereby, the present invention can, under the condition of keeping the total output pulse amount unchanged, effectively improve the non-smooth phenomena of the handwheel's manually-operated machining work and the surface roughness of workpieces.

Abstract: A motion controller generates commands to control electric motors of a multi-axis industrial machine in accordance with calculated positions set forth in a path planning table. In a method of generating the path planning table, a series of coordinates are entered into a system that correspond to positions of the machine along a complete cycle of a desired path. The coordinates are proportionally spaced based on distance, maximum speed and maximum acceleration factors. A path planning table is generated by determining the calculated positions based on a predetermined resolution using an S-curve mathematical equation that includes an alpha variable corresponding to an acceleration to jerk ratio. The value of the alpha variable is adjustable by the user during a testing procedure to allow for an optimal setting thereof.

Abstract: A method for calibration of an industrial robot is provided. A calibration device comprising devices for emitting a calibration beam within the working range of the robot, and an interruption detector which detects an interruption in the calibration beam are arranged. During the calibration process, a calibration tool supported by the robot hand and comprising a sphere with a known radius is moved towards the calibration beam. When an interruption in the calibration beam is detected, the output signals from the position transducers of the robot axes are read and stored. This process is repeated a plurality of times with different configurations of the robot. Thereafter, the calibration parameters of the robot are calculated based on the kinematic equations of the robot, the read and stored position transducer signals, and the known radius.

Abstract: Disclosed is a digital control servo system for read/write head positioning in data recording disk files of the type which use voice coil motor (VCM) actuators for positioning the head, with improved modelling of the servo system in saturated seek mode. The VCM has a characteristic torque factor which varies in accordance with a predetermined relationship to head position and with age and temperature, and the servo system drives the VCM in a saturated seek mode at a maximum level of current which has a low frequency variation due primarily to temperature change. The servo system computes an estimated VCM control representing the VCM current, computes estimates of the state of the VCM including head position and velocity, and computes from an algorithmic model, predictions of head position and velocity. The improved modelling changes the algorithmic model to reflect the actual torque factor of the VCM and actual maximum level of current in saturated seek mode rather than nominal torque factor and VCM current.

Abstract: A method and apparatus for controlling the output to a drive for moving a workpiece and/or tool along a defined path in a machine tool. The drive output can be modified according to a periodic controlling variable or a periodic disturbance variable. The defined path of the workpiece is divided into equidistant subdivisions and a control deviation corresponding to each subdivision of the defined path is determined and stored. A control variable is derived from the control deviation and utilized to control the drive output.

Abstract: A riving current supply device for driving a stepping motor in micro steps supplies a driving current to the stepping motor for a predetermined time for each micro step, and after an elapse of this predetermined time, the driving circuit supplies a current which is smaller than the driving current and which generates a torque larger than the detent torque of the stepping motor.

Abstract: An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground.

Abstract: A system for driving a hard disk drive spindle motor is disclosed. The system comprises a spindle motor control circuit (120) and a spindle motor power circuit (220). The system also includes at least one disk (22) attached to a rotatable spindle (21) and a spindle motor (400) which receives power signals from the spindle motor power circuit (220) and controls the rotation of the spindle (21). The spindle motor control circuit (120) comprises a multiplexor (127) which transmits either a pulse width modulation signal or a current control signal in response to a mode selection signal, and a spindle predriver (125) which receives the multiplexor output signal and transmits spindle motor control signals to the spindle motor power circuit (220).

Abstract: A numerical control apparatus having command input panels including the number of command keys corresponding to an application program. An application execution unit receives and stores command data output from a machine control console as well as executes an application program generated by the operator and outputs a pulse signal for commanding the operation of a machine tool such as the movement of the machine tool. An interpolation unit receives the pulse signal output from the application execution unit, outputs an interpolation pulse, and supplies the interpolation pulse to an axis control circuit. The axis control circuit receives the interpolation pulse output from the interpolation unit, generates a speed command for each axis and supplies the speed command to a servoamplifier. The servoamplifier controls the machine tool by energizing servomotors mounted thereon.

Abstract: A machining program is prepared based on design data obtained by CAD and machining conditions stored in advance in a data base, while machining status information is obtained from a machining site. Based on the machining program and the machining status information, a machining status is simulated in order to subsequently prepare machining commands required for appropriate NC control.

Abstract: A wall partition system and a device and method to automatically move partition panels, the position of which can be changed by a drive motor. Because the device for the automatic movement of the partition runs on a separate pair of rails, such a device can be retrofitted on existing systems.

Abstract: A surgical system, adapted to operate with at least one surgical device, has a handpiece containing a motor which is adapted to receive the surgical device. The surgical device is driven through a continuum of positions by the motor output shaft. A controller microprocessor controls the operation of the system. The motor has addressable switch assemblies for generating electrical state signals and the controller is responsive to the state signals for controlling the operation of the motor. The addressable switch assemblies are addressable Hall-effect circuit switches connected to the controller over a two wire switch bus. In connection with an arthroscopic device, the system enables the surgeon to control operation of the device from the handpiece. The surgical control system also provides a more linear relationship between the duty cycle of a pulse width modulated control signal and the resulting motor armature rotational velocity.

Abstract: A control system is provided for use with an actuator in a load-positioning assembly. The actuator and its load are quickly and accurately driven to a target position using dual control modes. When the distance from the target position is large, a speed control mode is used. In this mode, the actuator is operated according to a speed demand profile which is a function of a programmable maximum speed and the distance remaining to the target position. When the distance to the target position is small, a stepping mode is selected for final positioning of the actuator and its load.

Abstract: A method for the numerical control of machines with several axes, in particular machine tools and robots, to compensate for the inaccuracies occurring when the axes are reversed, wherein varying friction conditions, as well as slackness and torsional effects are compensated using a friction precontrol. Rotation speed reference values are corrected by injecting a correction pulse with an acceleration-dependent injection amplitude and a constant decay time for each axis at the time of passage from one quadrant to another, with the associated change in direction. The injection amplitude and constant decay time are determined for each machine manually or learned in an additional embodiment automatically in a self-learning system in the form of a neural network.

Abstract: Pre-defined driving profiles for the distinct phase-windings of an electronically controlled brushless motor are continuously reconstructed for each switching phase and forced in the form of a drive current or voltage on the respective windings, in synchronism with a signal indicative of the rotor position, from just a first complete sequence and at least a first sample of the successive sequence of a number of sequences, each of N samples, equal to the number of switching phases of the motor, in which is divided a complete digitized pre-defined profile. The digital samples are stored in a nonvolatile memory and that are scanned at a continuously regulated clock frequency and with varying order and direction of scanning for reconstructing the instantaneous driving profiles for all the windings.

Abstract: An actuation device for motor vehicle parts that are movable by an electric motor, in particular for window regulators and sliding roofs that are driven by a reversible electric motor. This actuation device has a setpoint value device for the desired position of the movable part, an incremental actual-value device for producing a signal corresponding to the actual position of the movable part, an absolute actual value device which emits first and second signals that are positionally fixed relative to the incremental actual-value device, and a microprocessor to compare the setpoint and actual value signals and to perform control and regulation programs. The signal emitted by the absolute actual-value device changes only at predetermined position values and the absolute actual-value device has position zones which are separated from one another by these position values that can be predetermined. The first and last position zones are each defined by a first or second end position of the movable part.

Abstract: A circuit controls a brushless DC motor having a magnetic rotor and a stator coil. The circuit has a switching element for switching a current to the stator coil to rotate the rotor. The circuit compares a voltage induced in the motor with a neutral voltage of a DC power source with no delay to provide a positional detection signal. The circuit has a one-chip microcomputer for examining a PWM waveform signal used to generate a synchronous signal and the switching timing of the switching element. The microcomputer samples the positional detection signal only during intervals in which a current is supplied to the stator coil, and carries out other processes during intervals in which no current is supplied to the stator coil.

Abstract: A backlash correction apparatus and method thereof for a numerical controller, which apparatus includes a command direction memory unit for storing a direction value of a position command, a feedback velocity/direction memory unit for storing a present transfer direction value, a previous direction memory unit for storing a previous transfer direction value, a reverse direction detector for operating on the command direction value, the previous transfer direction value and the present transfer direction and outputting therefrom a correction direction value, a backlash data memory unit for storing a backlash error value corresponding to the pitch position of a ball screw for transferring a table, a correction data operator for reading from the backlash data memory unit backlash errors and outputting therefrom backlash correction values by adding to the read backlash errors the correction direction values, and a correction data output unit for outputting the backlash correction values applied thereto from the c

Abstract: A control apparatus for a non-volatile memory and applications of the control apparatus to electronic computer peripheral equipments are disclosed. For example, a NOVRAM (non-volatile static random access memory) is used as the non-volatile memory so that data of the status of the apparatus are stored into the non-volatile memory while the apparatus is operating in order to perform recovery of the apparatus quickly after a trouble such as turning off of the power or service interruption occurs.

Abstract: A method for properly compensating for a backlash between a servomotor and a machine moving part, such as a table, driven by the servomotor in a semi-closed-loop type control. In the semi-closed-loop type servo control, the force of a motor-driven table which acts on a motor is estimated by means of a disturbance observer, the side of the groove of a ball nut directly connected to the table, with which the ridge of the ball thread directly connected to the motor is in contact, is detected by the sign of the value of the estimated force, and the direction of backlash compensation is changed in accordance with the detected result.

Abstract: An apparatus for determining the relative position and pose of two objects. The apparatus includes a position sensing table and a tripod tactile sensing tool. The tactile sensing tool includes three digital indicator probes arranged in a tripod triangle. The position sensing table senses the position of each probe when in contact with the table. When all three probes are in contact with the table, the relative location of the table to the tool can be determined. The resulting information can be used for robotic part referencing and calibrations.

Abstract: An automatic positioning system in which a divider element divides the space between the initial position and the required final position into a predetermined number of well defined measurement positions at predetermined but not necessarily constant intervals, at these positions measurement means determining the effective time, velocity and acceleration values and hence the extent of disturbances as an acceleration difference, while suitable calculation means define the acceleration change to be applied to the drive member to compensate said disturbances and restore the predefined law of motion; two different calculation means are also defined.

Abstract: A postage meter has a print rotor rotated by a motor and the motor is capable of being started and stopped under processor control. State variables are established within a nonvolatile memory. The rotor begins in its home position. When a mail piece such as a letter is detected by a letter sensor, the processor sets a state variable. At some point (either before loss of power, or after restoration of power) the postage value to be printed is booked into the accounting register. The rotor motor is started. At some point (either before loss of power, or after restoration of power) the rotor reaches its home position again. A state variable is cleared. In this way, it is possible, even after the loss and restoration of power, to distinguish between a rotor that is in its home position because it has not yet printed postage (but needs to do so) and a rotor that is in its home position because the printing of postage has been completed.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.