US4707780A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for reducing track errors in computer controlled machine tools or industrial robots
Assignee: Siemens AG
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Filing: 1987-03-06
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Granted: 1987-11-17
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Expires: 2007-03-06
Abstract
Abstract In a computer-controlled machine tool, an auxiliary filter is inserted into the reference value channel of the drive control circuit, which filter has a transfer function approximately the inverse of that of the corresponding drive control circuit.
Inventors
- 👤 Horst Gose
- 👤 Wolfgang Papiernik
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 22:13
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B2219/00; G05B2219/30; G05B2219/41; G05B2219/41187; G05B2219/41204
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
130 words
A method for reducing track errors in computer controlled machine tools or industrial robots in which distance reference values for the drive control circuits supplied by a computer in a reference value channel determine the track and the track velocity, wherein track direction and track velocity are expressed by a track vector and wherein the drive control circuits include controllers of low order, further comprising inserting an auxiliary filter in the reference value channel of each drive control circuit, which filter has approximately the inverse transfer behavior of the associated drive control circuit, feeding the auxiliary filter with control signals corresponding to changes in the track ventor and switching the auxiliary filter directly between the output of the computer and the reference value input of the respective drive control circuit.
Claim 2
Independent Claim
130 words
A method for reducing track errors in computer controlled machine tools or industrial robots in which distance reference values for the drive control circuits supplied by a computer in a reference value channel determine the track and the track velocity, wherein track direction and track velocity are expressed by a track vector and wherein the drive control circuits include controllers of low order, further comprising inserting an auxiliary filter in the reference value channel of each drive control circuit, which filter has approximately the inverse transfer behavior of the associated drive control circuit, feeding the auxiliary filter with control signals corresponding to changes in the track ventor and switching the auxiliary filter directly between the output of the computer and the reference value input of the respective drive control circuit.
Claim 3
Dependent Claim
134 words
Apparatus for reducing track errors in computer controlled machine tools or industrial robots in which distance reference values for drive control circuits supplied by a computer in a reference value channel determine the track and the track velocity, wherein track direction and track velocity are expressed by a track vector and wherein the drive control circuits include controllers of low order, further comprising an auxiliary filter provided in the reference value channel of each drive control circuit, which filter has approximately the inverse transfer behavior of the associated drive control circuit, the auxiliary filter being respectively fed with control signals corresponding to changes in the track vector and further comprising means for switching the auxiliary filter directly between the output of the computer and the reference value input of the respective drive control circuit.
Claim 4
Dependent Claim
134 words
Apparatus for reducing track errors in computer controlled machine tools or industrial robots in which distance reference values for drive control circuits supplied by a computer in a reference value channel determine the track and the track velocity, wherein track direction and track velocity are expressed by a track vector and wherein the drive control circuits include controllers of low order, further comprising an auxiliary filter provided in the reference value channel of each drive control circuit, which filter has approximately the inverse transfer behavior of the associated drive control circuit, the auxiliary filter being respectively fed with control signals corresponding to changes in the track vector and further comprising means for switching the auxiliary filter directly between the output of the computer and the reference value input of the respective drive control circuit.
Claim 5
Dependent Claim
17 words
The apparatus recited in claim 2 wherein the controller of low order comprises at least one P-controller.
Claim 6
Dependent Claim
17 words
The apparatus recited in claim 2 wherein the controller of low order comprises at least one PID-controller.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-11-16 | 1991-05-18 | 1991-11-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-11-16 | 1995-05-18 | 1995-11-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-11-16 | 1999-05-18 | 1999-11-17 | $7700.00 | Window Closed / Lapsed |