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1. WO2020141579 - CONTROL DEVICE, CONTROL METHOD, AND PROGRAM

Publication Number WO/2020/141579
Publication Date 09.07.2020
International Application No. PCT/JP2019/044987
International Filing Date 18.11.2019
IPC
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
G05B 19/4103 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
41characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
4103Digital interpolation
CPC
B25J 9/10
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
G05B 19/4103
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
41characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
4103Digital interpolation
Applicants
  • ソニー株式会社 SONY CORPORATION [JP]/[JP]
Inventors
  • 寺澤 良 TERASAWA, Ryo
  • 松田 康宏 MATSUDA, Yasuhiro
  • 杉本 克文 SUGIMOTO, Katsufumi
Agents
  • 特許業務法人酒井国際特許事務所 SAKAI INTERNATIONAL PATENT OFFICE
Priority Data
2019-00018004.01.2019JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) CONTROL DEVICE, CONTROL METHOD, AND PROGRAM
(FR) DISPOSITIF DE COMMANDE, PROCÉDÉ DE COMMANDE ET PROGRAMME
(JA) 制御装置、制御方法、及びプログラム
Abstract
(EN)
This control device is provided with: an interpolation orientation derivation unit for deriving an interpolation orientation at a via point of a machine element that moves on a path arriving at an end point from a start point via the via point; an optimal orientation derivation unit for deriving an optimal orientation at the via point of the machine element; and an orientation derivation unit that uses the interpolation orientation and the optimal orientation as a basis to derive an orientation at which the machine element is controlled at the via point.
(FR)
Dispositif de commande comprenant : une unité de dérivation d'orientation d'interpolation pour dériver une orientation d'interpolation au niveau d'un point d'interconnexion d'un élément mécanique qui se déplace sur un parcours entre un point de départ et un point d'extrémité en passant par le point d'interconnexion; une unité de dérivation d'orientation optimale permet de dériver une orientation optimale au point d'interconnexion de l'élément mécanique; et une unité de dérivation d'orientation qui utilise l'orientation d'interpolation et l'orientation optimale comme base pour dériver une orientation avec laquelle l'élément mécanique est commandé au point d'interconnexion.
(JA)
始点から経由点を介して終点まで到達する軌道を運動する機械要素の前記経由点における補間姿勢を導出する補間姿勢導出部と、前記機械要素の前記経由点における最適姿勢を導出する最適姿勢導出部と、前記補間姿勢及び前記最適姿勢に基づいて、前記経由点にて前記機械要素が制御される姿勢を導出する姿勢導出部と、を備える、制御装置。
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