US4728872A
Expired / Lapsed
US
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Robot path error correction system
Assignee: FNUC Ltd A CORP OF JAPAN
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Filing: 1985-12-26
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Granted: 1988-03-01
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Expires: 2005-12-26
Abstract
Abstract A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
Inventors
- 👤 Hajimu Kishi
- 👤 Shinsuke Sakakibara
- 👤 Takayuki Ito
- 👤 Tatsuo Karakama
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 19:10
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/35; G05B2219/35569; G05B2219/43; G05B2219/43009; G05B2219/43085; G05B2219/43115; G05B2219/45; G05B2219/45083
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
142 words
A robot path error correction system for performing a pulse distribution calculation along each axis in dependence upon commanded position data on the basis of velocity command pulses for accelerating and velocity command pulses for decelerating a feedrate to a commanded velocity at a predetermined time constant, and driving and controlling a movable element in a specified traveling direction, comprising: (a) means for sensing a remaining amount of command pulses at deceleration of said movable element; (b) timing deciding means for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of said velocity command pulses remaining; and (c) adding means for adding said velocity command pulses which accelerate the feedrate and said velocity command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
Claim 2
Dependent Claim
142 words
A robot path error correction system for performing a pulse distribution calculation along each axis in dependence upon commanded position data on the basis of velocity command pulses for accelerating and velocity command pulses for decelerating a feedrate to a commanded velocity at a predetermined time constant, and driving and controlling a movable element in a specified traveling direction, comprising: (a) means for sensing a remaining amount of command pulses at deceleration of said movable element; (b) timing deciding means for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of said velocity command pulses remaining; and (c) adding means for adding said velocity command pulses which accelerate the feedrate and said velocity command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
Claim 3
Dependent Claim
42 words
A robot path error correction system according to claim 1, wherein said timing deciding means decides start timing of a pulse distribution calculation along a subsequent travel path by specifying a parameter for multiplying an amount of accumulated command pulses at deceleration.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-03-01 | 1991-08-31 | 1992-03-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-03-01 | 1995-08-31 | 1996-03-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-03-01 | 1999-08-31 | 2000-03-01 | $7700.00 | Window Closed / Lapsed |