EP0123391A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Control system for manipulation apparatus with initializing stabilization and inertia scaling
Assignee: Unimation Inc
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Filing: 1984-03-05
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Granted: —
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Expires: 2004-03-05
Abstract
Abstract A control system (e.g. 120,122,184 and rotary axis servo circuitry of Figure 1 including 180, 190, 200, 202, 220, 222, 224 and 226) is provided for servo controlled apparatus such as a programmable manipulator having a manipulator arm movable (e.g. via 210) in a plurality of axes. The control system provides improved dynamic performance and control of the manipulator arm over a wide range of arm loads, dynamic operating parameters of the arm and over the full range of operating positions. The control system for one or more ofthe controlled axes (e.g. rotary) includes servo control loops utilizing various feedback signals (e.g. 194, 208, 168). In one arrangement, an inertia correlated signal provided as a pressure signal (e.g. 254 from 256) from a hydraulic actuator (e.g. 258) of an appropriate axis (vertical) is utilized in combination with a function generator circuit (e.g. 184) to provide variable inertial scaling (at 187) of selected loop command signals (e.g. 174). The axis (e.g. vertical) utilized for the pressure signal is determined by the mounting (e.g. as shown in Figures 8a and 8b) of the manipulator apparatus so as to provide a signal correlated to the inertial mass system of the manipulator arm. A pressure signal (e.g. 206) from an actuator (e.g. 210) of an axis to be controlled is utilized to initialize the command signals (via e.g. 219, 217, and 215) for the axis upon power turn-on of the control system to provide stabilization of the manipulator arm during the power turn-on and initializing phase.
Inventors
- 👤 Maurice J. Dunne
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 03:49
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/237; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/1638; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33337; G05B2219/37; G05B2219/37357; G05B2219/37388; G05B2219/39; G05B2219/39178; G05B2219/41; G05B2219/41309
Claims Analysis
Total Claims: 29
Claim 1
Independent Claim
137 words
A control system for manipulator apparatus having an arm movable in a plurality of axes and including control apparatus (e.g. 120, 122) that provides command signals (e.g. 170, 172, 174) in response to program data and arm position data, the control system characterized by: means (e:g. 184 or Δ P at 213) for providing a scaling signal (e.g. at 195, 201) derived from one or more of said axes and correlated to the inertial mass system of said arm; means (e.g. 184 and 187) responsive to said command signals and said scaling signal for modifying one or more of said command signals; and means (e.g. rotary servo circuitry 180, 190, 200, 202,220, 222, 224, 226) responsive to said command signals and said modified command signals for moving said arm (e.g. via 210) in said plurality of axes.
Claim 2
Dependent Claim
137 words
A control system for manipulator apparatus having an arm movable in a plurality of axes and including control apparatus (e.g. 120, 122) that provides command signals (e.g. 170, 172, 174) in response to program data and arm position data, the control system characterized by: means (e:g. 184 or Δ P at 213) for providing a scaling signal (e.g. at 195, 201) derived from one or more of said axes and correlated to the inertial mass system of said arm; means (e.g. 184 and 187) responsive to said command signals and said scaling signal for modifying one or more of said command signals; and means (e.g. rotary servo circuitry 180, 190, 200, 202,220, 222, 224, 226) responsive to said command signals and said modified command signals for moving said arm (e.g. via 210) in said plurality of axes.
Claim 3
Dependent Claim
65 words
The control system of claim 1 wherein said manipulator apparatus is characterized by hydraulic actuator means (e.g. 210, 258, 306) for one or more of said axes and said control system is further characterized by means (e.g. 208, 256, 304) for sensing the pressure in one or more of said hydraulic actuators, said scaling signal being derived from said sensed pressure (e.g. 206, 302, 254).
Claim 4
Dependent Claim
38 words
The control system of claim 2 wherein each of said actuators (e.g. 210) is characterized by a double acting actuator and said sensed pressure (Δ P at 206) is a differential pressure across said respective double acting actuator.
Claim 5
Dependent Claim
56 words
The control system of claim 2 wherein the actuator (e.g. 258) for the axis (e.g. vertical) that is used for pressure sensing for said scaling signal (e.g. at 195, 201) is determined such that the sensed pressure (e.g. 254) is correlated to the inertial mass system of said arm (e.g. as per FIGS. 8a or 8b).
Claim 6
Dependent Claim
21 words
The control system of claim 1 wherein said sealing signal is a dynamic signal representing the dynamic inertia of said arm.
Claim 7
Dependent Claim
99 words
The control system of claim 1 wherein said manipulator arm is movable in a rotary axis for movement in a horizontal plane with respect to a base when said base is parallel to the ground plane (e.g. in FIGS. 8a or 8b), said arm being movable in a ver - tical axis for up - down movement with respect to said base, and in a radial extension axis for in-out movement, said scaling signal (e.g. via Δ P 254 in 184) being correlated to inertia in said vertical axis when said base is mounted parallel to the ground plane.
Claim 8
Dependent Claim
47 words
The control system of claim 6 wherein said scaling signal is correlated to inertia in said radial extension axis when said manipulator apparatus is mounted with said base in a generally vertical plane (e.g. in FIGS. 8c and 8d) and said radial extension axis is generally vertical.
Claim 9
Dependent Claim
47 words
The control system of claim 7 wherein said scaling signal is correlated (e.g. via Δ P 206 in 184) to inertia in said rotary axis with said base being mounted in a generally vertical plane and said radial extension axis being generally parallel to the ground plane.
Claim 10
Dependent Claim
40 words
The control system of claim 8 wherein said command signal modifying means is further characterized by selectively operable means (e.g. 189)for selectively providing modification of said command signal in the correct direction correlated to the mounting of said manipulator apparatus.
Claim 11
Dependent Claim
33 words
The control system of claim 2 wherein said signal modifying means is characterized by square law function generator means (e.g. 187) for modifying said command signal as the square of the scaling signal.
Claim 12
Dependent Claim
54 words
The control system of claim 10 wherein said square law function generator means is characterized by a light emitting diode (e.g. 188) connected to said scaling signal and a photocell (e.g. 186) responsive to said light emitting diode, said command signal being connected in series with said photocell to provide said modified command signal.
Claim 13
Dependent Claim
181 words
The control system of claim 1 wherein said arm moving means is characterized by servo loop control signal generating means (e.g. 180, 190, 200, 202, 220, 222, 224) for generating axis control signals (e.g. at output of 220) for each of said axes in response to said modified and unmodified command signals and feedback signals, at least one (e.g. 206) of said feedback signals for one of said axes being correlated to the inertial mass system of said arm and at least one of said axis control signals being provided by summing said inertial mass system correlated feedback signal (e.g. 206) and one or more (e.g. 204) of said modified and unmodified command signals, said control system being further characterized by means (e.g. 217) responsive to a servo enable signal (e.g. 219) for modifying said servo loop control signal generating means to provide for a predetermined period of time a command signal (e.g. at 218) for one or more of said axes equal in magnitude and opposite in sign to said inertial mass system correlated feedback signal for said respective axis.
Claim 14
Dependent Claim
75 words
The control system of claim 12 wherein said servo loop control signal generating means is further characterized in at least one of said axes by integration means (e.g. 220) providing an integration function after summation of said inertia correlated feedback signal and said axis command signal, said modifying means further comprising means (e.g. 215) for initializing said integrator function of said integrator in response to said servo enable signal for said predetermined period of time.
Claim 15
Dependent Claim
31 words
The control system of claim 13 wherein said servo enable signal is a power start up signal, said modifying means providing initializing stabilization for said arm and said arm moving means.
Claim 16
Independent Claim
116 words
A method for scaling a command signal in a control system for a manipulator arm controllable in a plurality of axes in accordance with the inertial mass system of the controlled manipulator arm, the method being characterized by the steps of: deriving (at 213 or 195-201) a signal in one or more of the axes of the manipulator arm correlated to the inertial mass system of the arm; scaling (at 186) a command signal (e.g. 174) in response to said inertial mass system correlated signal; and controlling (via servo circuitry 180, 190, 200, 202, 220, 222, 224, 226 and 210) the manipulator arm in said plurality of axes in accordance with said inertia scaled command signal.
Claim 17
Independent Claim
116 words
A method for scaling a command signal in a control system for a manipulator arm controllable in a plurality of axes in accordance with the inertial mass system of the controlled manipulator arm, the method being characterized by the steps of: deriving (at 213 or 195-201) a signal in one or more of the axes of the manipulator arm correlated to the inertial mass system of the arm; scaling (at 186) a command signal (e.g. 174) in response to said inertial mass system correlated signal; and controlling (via servo circuitry 180, 190, 200, 202, 220, 222, 224, 226 and 210) the manipulator arm in said plurality of axes in accordance with said inertia scaled command signal.
Claim 18
Dependent Claim
241 words
A control system for manipulator apparatus having an arm movable in a plurality of axes, the control system being characterized by: servo loop control signal generating means (e.g. 120, 122, 180, 190, 200, 202, 220, 222, 224) for generating axis control signals (e.g. at output 224) for each of said axes in response to program data (e.g. in 120) and feedback signals (e.g. 168, 194, 206) including arm position data derived from movement of said arm in said plurality of axes, at least one (e.g. 206) of said feedback signals for one of said axes being correlated to the inertial mass system of said arm and at least one of said axis control signals (e.g. at output of 224) being provided by summing said inertial mass system correlated feedback signal (e.g. 206) and an axis command signal (e.g. 204), said axis command signal being generated by said servo loop control signal generating means; means (e.g. 208, 112, 196, 77) for providing said feedback signals; means (e.g. 226, 210) responsive to said axis control signals for moving said arm in said plurality of axes; and means (e.g. 217) responsive to a servo enable signal (e.g. 219) for modifying said servo loop control signal generating means to provide for a predetermined period of time a command signal for one or more of said axes equal in magnitude and opposite in sign to said inertial mass system correlated feedback signal for said respective axis.
Claim 19
Dependent Claim
241 words
A control system for manipulator apparatus having an arm movable in a plurality of axes, the control system being characterized by: servo loop control signal generating means (e.g. 120, 122, 180, 190, 200, 202, 220, 222, 224) for generating axis control signals (e.g. at output 224) for each of said axes in response to program data (e.g. in 120) and feedback signals (e.g. 168, 194, 206) including arm position data derived from movement of said arm in said plurality of axes, at least one (e.g. 206) of said feedback signals for one of said axes being correlated to the inertial mass system of said arm and at least one of said axis control signals (e.g. at output of 224) being provided by summing said inertial mass system correlated feedback signal (e.g. 206) and an axis command signal (e.g. 204), said axis command signal being generated by said servo loop control signal generating means; means (e.g. 208, 112, 196, 77) for providing said feedback signals; means (e.g. 226, 210) responsive to said axis control signals for moving said arm in said plurality of axes; and means (e.g. 217) responsive to a servo enable signal (e.g. 219) for modifying said servo loop control signal generating means to provide for a predetermined period of time a command signal for one or more of said axes equal in magnitude and opposite in sign to said inertial mass system correlated feedback signal for said respective axis.
Claim 20
Dependent Claim
81 words
The control system of claim 16 wherein said servo loop control signal generating means is further characterized in at least one of said axes by integration means (e.g. 220) providing an integration function after summation (e.g. in 202) of said inertia correlated feedback signal and said axis command signal, said modifying means further characterized by means (e.g. 219) for initializing said integrator function of said integrator in response to said servo enable signal (e.g. 219) for said predetermined period of time.
Claim 21
Dependent Claim
33 words
The control system of claim 17 wherein said servo enable signal (e.g. 219) is a power start up signal, said modifying means providing initializing stabilization for said arm and said arm moving means.
Claim 22
Dependent Claim
39 words
The control system of claim 16 wherein said arm moving means includes hydraulically operated actuators (e.g. 210) for one or more of said axes, said inertia correlated feedback signal being obtained as a sensed pressure signal from said actuator.
Claim 23
Dependent Claim
202 words
An initializing stabilization method for manipulator apparatus having an arm movable in a plurality of axes and control arrangements (e.g. 120, 122, 180, 190i 200, 202, 220, 222, 224, 226) for providing control signals (e.g. at output of 224) to arm moving arrangements (e.g. 210) in response to program data and arm feedback signals (e.g. 168, 194, 206), the control arrangement for at least one of said axes being characterized by a force or pressure loop function (e.g. 204, 202, 206), the force or pressure control loop function including an integrator function (e.g. by 220), the feedback signal (e.g. 206) in said at least one axis being correlated to the inertial mass system of said arm and being summed (e.g. by 202) with a command signal (e.g. 204) prior to said integrator function, the output of said integrator function (e.g. at output of 220) representing said control signal, the process being characterized by providing for a predetermined stabilization time period and in response to an initializing signal a command signal (e.g. at 218 by switch 217) equal in magnitude and opposite in sign to said inertia feedback signal and further eliminating said integrator function (e.g. by 215) for said predetermined stabilization period.
Claim 24
Dependent Claim
202 words
An initializing stabilization method for manipulator apparatus having an arm movable in a plurality of axes and control arrangements (e.g. 120, 122, 180, 190i 200, 202, 220, 222, 224, 226) for providing control signals (e.g. at output of 224) to arm moving arrangements (e.g. 210) in response to program data and arm feedback signals (e.g. 168, 194, 206), the control arrangement for at least one of said axes being characterized by a force or pressure loop function (e.g. 204, 202, 206), the force or pressure control loop function including an integrator function (e.g. by 220), the feedback signal (e.g. 206) in said at least one axis being correlated to the inertial mass system of said arm and being summed (e.g. by 202) with a command signal (e.g. 204) prior to said integrator function, the output of said integrator function (e.g. at output of 220) representing said control signal, the process being characterized by providing for a predetermined stabilization time period and in response to an initializing signal a command signal (e.g. at 218 by switch 217) equal in magnitude and opposite in sign to said inertia feedback signal and further eliminating said integrator function (e.g. by 215) for said predetermined stabilization period.
Claim 25
Dependent Claim
66 words
The method of claim 20 wherein said control arrangement for said at least one of said axes is characterized by a velocity control loop function (e.g. 194, 172, 190) for providing said command signal, said velocity control loop function being characterized by an integration function (e.g. 200), said command signal being provided by initializing said velocity integrator function in accordance with said inertia correlated feedback signal.
Claim 26
Dependent Claim
27 words
The method of claim 20 being characterized by said initializing stabilization being provided for the axis or axes in which the manipulator arm is effected by gravity.
Claim 27
Dependent Claim
76 words
The method of claim 22 wherein said manipulator arm is rotatably mounted on a base for rotary axis movement in a horizontal plane (e.g. FIGS. 8a or 8b) with the base parallel to the ground plane, said arm further being mounted for vertical axis movement with respect to said base, said initializing stabilization method being provided in said vertical axis when said manipulator apparatus is mounted with said base being mounted parallel to the ground plane.
Claim 28
Dependent Claim
49 words
The method of claim 23 wherein said initializing stabilization method is provided in said rotary axis when said manipulator apparatus is mounted (e.g. in FIGS. 8e or 8f) with said rotary axis movement being in a vertical plane and said manipulator arm extending generally parallel to the ground plane.
Claim 29
Dependent Claim
51 words
The method of claim 23 wherein said manipulator arm is mounted for radial extension axis movement and said initialization stabilization method is provided in said radial extension axis when said manipulator apparatus is mounted (e.g. in FIG. 8c or 8d) with said radial extension axis movement in a generally vertical direction.
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