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1. WO2022009921 - TRAJECTORY GENERATION DEVICE AND AUTOMATIC LOCATION CONTROL DEVICE

Publication Number WO/2022/009921
Publication Date 13.01.2022
International Application No. PCT/JP2021/025613
International Filing Date 07.07.2021
IPC
B25J 9/10 2006.1
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 2006.1
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
  • ファナック株式会社 FANUC CORPORATION [JP]/[JP]
Inventors
  • 平川 学 HIRAKAWA, Manabu
Agents
  • 上田 邦生 UEDA, Kunio
  • 柳 順一郎 YANAGI, Junichiro
  • 竹内 邦彦 TAKEUCHI, Kuniyoshi
Priority Data
2020-11902010.07.2020JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) TRAJECTORY GENERATION DEVICE AND AUTOMATIC LOCATION CONTROL DEVICE
(FR) DISPOSITIF DE GÉNÉRATION DE TRAJECTOIRE ET DISPOSITIF DE COMMANDE D'EMPLACEMENT AUTOMATIQUE
(JA) 軌道生成装置および自動位置制御装置
Abstract
(EN) A trajectory generation device (1) is for generating a trajectory through which a control target 4a is to pass, and is provided with a storage unit (1b) for storing a plurality of points through which the control target (4a) is to pass, and a processor (1a). The processor (1a) executes reception processing for receiving designated trajectory information, which is information on a user-designated trajectory in a partial segment between two points among the plurality of points, and trajectory generation processing in which, upon reception of the designated trajectory information, the trajectory in the partial segment is generated by using: a first trajectory passing through at least one front-side transit point through which the control target is to pass prior to the two points among the plurality of points, and then the two points; a second trajectory passing through the two points among the plurality of points, and then at least one rear-side transit point through which the control target is to pass after the two points; and the designated trajectory information.
(FR) L'invention concerne un dispositif de génération de trajectoire (1) qui est destiné à générer une trajectoire par laquelle une cible de commande (4a) doit passer, et qui comprend une unité de stockage (1b) pour stocker une pluralité de points par lesquels la cible de commande (4a) doit passer, et un processeur (1a). Le processeur (1a) exécute un traitement de réception pour recevoir des informations de trajectoire désignée, qui sont des informations sur une trajectoire désignée par un utilisateur dans un segment partiel entre deux points parmi la pluralité de points, et un traitement de génération de trajectoire dans lequel, lors de la réception des informations de trajectoire désignée, la trajectoire dans le segment partiel est générée en utilisant : une première trajectoire passant par au moins un point de transit côté avant par lequel la cible de commande doit passer avant les deux points parmi la pluralité de points, puis les deux points ; une seconde trajectoire passant par les deux points parmi la pluralité de points, puis au moins un point de transit côté arrière par lequel la cible de commande doit passer après les deux points ; et les informations de trajectoire désignée.
(JA) 軌道生成装置(1)は、制御対象4aが通過する軌道を生成するものであって、前記制御対象(4a)が通過する複数の点を記憶する記憶部(1b)と、プロセッサ(1a)と、を備え、前記プロセッサ(1a)が、前記複数の点のうち2つの点の間の部分区間におけるユーザ指定の軌跡の情報である指定軌跡情報を受付ける受付処理と、前記指定軌跡情報を受付けると、前記複数の点のうち前記2つの点の前に前記制御対象が通過する少なくとも1つの前側通過点と前記2つの点とを通過する第1の軌跡と、前記複数の点のうち前記2つの点の後に前記制御対象が通過する少なくとも1つの後側通過点と前記2つの点とを通過する第2の軌跡と、前記指定軌跡情報とを用いて、前記部分区間における前記軌道を生成する軌道生成処理と、を実行する。
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