US4987356A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Profiling control system for given curved surface
Assignee: Hitachi Construction Machinery Co Ltd
•
Filing: 1989-10-13
•
Granted: 1991-01-22
•
Expires: 2009-10-13
Abstract
Abstract A profiling control system for a multiple-degree-of-freedom working machine having at least two degrees of freedom has at least one force control loop. The control loop has a detector for detecting the force applied to a working tool from a work surface, an error detector for determining the difference between the detected force and a command f ro of urging force of the working took, a processor for computing a velocity command u z of the working tool on the basis of the determined error, a drive system for moving the multiple-degree-of-freedom working machine on the basis of the velocity command. Further, the multiple-degree-of-freedom working machine is moved on the basis of a velocity command u x . The control system provides a moving velocity v zof in an urging direction of the working tool, which occurs as the result of a gradient tan α of the work surface with respect to a feed direction when the working tool is fed with the velocity command u x and while the working tool is urged against the work surface with the force command f ro . Also, a controlled variable, either f ro or u z of the force control loop is corrected by using the moving velocity v zof in the urging direction, thereby canceling the force f of due to the velocity v zof .
Inventors
- 👤 Kazuyoshi Yamada
- 👤 Kunio Kashiwagi
- 👤 Tooru Kurenuma
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 06:27
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1684; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37357; G05B2219/45; G05B2219/45151; G05B2219/49; G05B2219/49362
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
260 words
A profiling control system which uses a multiple-degree-of-freedom working machine having at least two degrees of freedom, said profiling control system comprising: at least one force control loop including means for detecting force applied to a working tool from a work surface, means for taking an error between the detected force and a force command f ro of a preset urging force of the working tool, means for computing a velocity command u z of the working tool on the basis of said error, and means for moving the multiple-degree-of-freedom working machine on the basis of said velocity command u z ; means for commanding at least one velocity command u x of the working tool; and means for moving the multiple-degree-of-freedom working machine on the basis of said velocity command u x , wherein said profiling control system comprises: first control means for providing a moving velocity v zof in an urging direction of the working tool, which occurs due to a gradient tan α of the work surface with respect to a feed direction when the working tool is fed with said velocity command u x and while the working tool is urged against the work surface with said force command f ro ; and second control means for using said moving velocity v zof in the urging direction to correct a controlled variable including one of either said force command f ro or said velocity command u z of said force control loop, thereby canceling a force f of due to said moving velocity v zof .
Claim 2
Dependent Claim
260 words
A profiling control system which uses a multiple-degree-of-freedom working machine having at least two degrees of freedom, said profiling control system comprising: at least one force control loop including means for detecting force applied to a working tool from a work surface, means for taking an error between the detected force and a force command f ro of a preset urging force of the working tool, means for computing a velocity command u z of the working tool on the basis of said error, and means for moving the multiple-degree-of-freedom working machine on the basis of said velocity command u z ; means for commanding at least one velocity command u x of the working tool; and means for moving the multiple-degree-of-freedom working machine on the basis of said velocity command u x , wherein said profiling control system comprises: first control means for providing a moving velocity v zof in an urging direction of the working tool, which occurs due to a gradient tan α of the work surface with respect to a feed direction when the working tool is fed with said velocity command u x and while the working tool is urged against the work surface with said force command f ro ; and second control means for using said moving velocity v zof in the urging direction to correct a controlled variable including one of either said force command f ro or said velocity command u z of said force control loop, thereby canceling a force f of due to said moving velocity v zof .
Claim 3
Dependent Claim
86 words
A profiling control system according to claim 1, wherein said first control means includes: first computing means for computing said gradient tan α of the work surface; second computing means for computing the feed velocity v x of the working tool fed with said velocity command u x ; third computing means for computing said moving velocity v zof in the urging direction from the gradient tan α obtained by said first computing means and the feed velocity v x obtained by said second computing means.
Claim 4
Dependent Claim
63 words
A profiling control system according to claim 2, wherein said first computing means includes: means for detecting a position of the working tool which moves on the work surface; and means for computing said gradient tan α of the work surface from two positions including a present point of the working tool on the work surface, which is detected by said detecting means.
Claim 5
Dependent Claim
92 words
A profiling control system according to claim 2, wherein said first computing means includes: means for detecting a position of the working tool which moves on the work surface; means for computing a direction of feed velocity vector v of said working tool from two positions including a present point of the working tool detected by said detecting means; and means for computing said gradient tan α of the work surface from a direction of said feed velocity vector v and a direction of the force detected by said force detecting means.
Claim 6
Dependent Claim
74 words
A profiling control system according to claim 1, wherein said first control means includes: first computing means for computing said gradient tan α of the work surface; means for setting a feed target velocity v xyo of the working tool; and second computing means for computing said moving velocity v zof in the urging direction from the gradient tan α obtained by said first computing means and said feed target velocity v xyo .
Claim 7
Dependent Claim
112 words
A profiling control system according to claim 5, wherein said first computing means includes: means for detecting a position of the working tool which moves on the work surface; means for presetting a feed-target position of the working tool; means for computing a feed-direction vector m in a direction perpendicular to the urging direction of the working tool from two positions which include a present position of the working tool on the work surface, detected by said detecting means, and said feed-target position; and means for computing said gradient tan α of the work surface from said feed-direction vector m and a direction of said force detected by said force detecting means.
Claim 8
Dependent Claim
75 words
A profiling control system according to claim 1, wherein said first control means includes: means for detecting a position of the working tool which moves on the work surface; and computing means for computing said moving velocity v zof in saidg urging direction from two positions which include a present point of the working tool on the work surface, which is detected by said detecting means, and from a moving time between said two positions.
Claim 9
Dependent Claim
55 words
A profiling control system according to claim 1, wherein said first control means includes: means for beforehand storing said gradient tan α of the work surface; and computing means for computing said moving velocity v zof in the urging direction from said gradient tan α stored beforehand and said feed target velocity v xyo .
Claim 10
Dependent Claim
70 words
A profiling control system according to claim 1, wherein said second control means includes: first computing means for computing said force f of occurring due to said moving velocity v zof in the urging direction; and second computing means for subtracting said force f of from said command f ro of the urging force of said force control loop, to compute a new command f r of the urging force.
Claim 11
Dependent Claim
62 words
A profiling control system according to claim 1, wherein said second control means includes: computing means for urging said moving velocity v zof in the urging direction as a velocity correcting value v zc and adding said velocity correcting value v zc to the velocity command u zo of said force control loop to compute a new velocity command u z .
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) | 1994-01-21 | 1994-07-23 | 1995-01-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-01-21 | 1998-07-23 | 1999-01-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-01-21 | 2002-07-23 | 2003-01-22 | $7700.00 | Window Closed / Lapsed |