Process for controlling the movements of an axis on program-controlled machines and control system

• US 5,224,032 A
• Filed: 07/06/1990
• Issued: 06/29/1993
• Est. Priority Date: 07/08/1989
• Status: Expired due to Fees

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Schweissanlagen + Roboter GmbH
• Inventors: Schmid, Dietmar, Worn, Heinz
• Primary Examiner(s): Ruggiero, Joseph
• Assistant Examiner(s): TRAMMELL, JAMES P
• Application Number:
  US07/549,407
• Time in Patent Office: 1,089 Days
• Field of Search: 364/167.01, 364/165, 395/88, 395/94, 395/95, 395/96, 395/90, 395/91, 318/616, 318/632
• US Class Current: 700/61
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4163 Adaptive control of feed or cutting velocity without NC B23Q15/12
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive
• CPC Class Codes: G05B 2219/36437 Follow coarse programmed surface, detect contact feeler or no force, record point
• CPC Class Codes: G05B 2219/41167 Control path independent of load
• CPC Class Codes: G05B 2219/42063 Position and speed and current and force, moment, torque
• CPC Class Codes: G05B 2219/42123 Position loop then force, current loop
• CPC Class Codes: G05B 2219/49143 Obstacle, collision avoiding control, move so that no collision occurs
• CPC Class Codes: G05B 2219/49147 Retract on collision with moving object, tool follows, yields to object
• CPC Class Codes: G05B 2219/49362 Tool, probe at constant height to surface during machining

Abstract

The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.

Claims

1. A process for controlling an axis on a programmed-control machine, the process comprising the steps of:

issuing one of a desired position signal indicating where the axis to be positioned, a desired speed signal indicating the desired speed of the axis, and a desired current signal indicating a desired current to be applied to the axis;

receiving one of a position feedback signal indicating where the axis is presently positioned, a speed feedback signal indicating the present speed of the axis and a current feedback signal indicating the amount of current applied to the axis, said feedback signal corresponding respectively to said one of said issued signal;

combining one of said received feedback signal in a negative manner with said corresponding respective desired signal to generate an error signal for driving an axis;

receiving a load feedback signal indicating a load acting on the axis;

combining said load feedback signal in a positive manner with said error signal, said load signal being combined with said error signal to retard said driving of the axis in proportion to said load feedback signal.

2. A process in accordance with claim 1, further comprising:

varying an amplitude of said load feedback signal in order to change mechanical flexibility of the axis.

3. A process in accordance with claim 2, wherein:

said combining of said load feedback signal can be switched on an off in one of a manual and preprogram-control manner.

4. A process in accordance with claim 3, wherein:

said switching on and off is periodical.

5. A process in accordance with claim 1, further comprising:

compensating for static forces of said load feedback signal by using stored offset values during said combining.

6. A control system for a moveable axis on a program-controlled machine, the system comprising:

one of a position control means for adjusting a position of the axis, a speed control means for adjusting a speed of the axis and a current control means for adjusting a current delivered to the axis;

load sensor means for sensing a load applied to the axis and for generating a load feedback signal proportional to said applied load; and

summation means for positively feeding back said load feedback signal into said one of said control means to act on the axis in a manner selected from the group of retarding and overextending movement of the axis in proportion to said load feedback signal.

7. A control system in accordance with claim 6, wherein:

said load sensor means is designed to sense torque applied to the axis.

8. A control system in accordance with claim 6, wherein:

said load sensor means is arranged on an arm.

9. A control system in accordance with claim 6, further comprising:

an amplifier means for changing magnitude of said load feedback signal and positioned after said load sensor means and before said one of said control means.

10. A system in accordance with claim 6, wherein:

the control system controls a plurality of axis with each axis having its own control means; and

said load sensor means generating a plurality of load feedback signals proportional to loads on each of said plurality of axis.

11. A system in accordance with claim 6, further comprising:

program control means for performing functions of said control means in software.

12. A process for incorporating mechanical flexibility into a control system of an axis of a programmed controlled machine, the process comprising the steps of:

issuing a command signal indicating a desired action of the axis;

receiving an action feedback signal indicating a degree to which said desired action has been completed;

combining said action feedback signal with said command signal in a negative manner in order to produce an action error signal indicating a remainder of said desired action not yet performed;

applying said action error signal to said axis to perform said remainder of said desired action;

receiving a load feedback signal indicating a magnitude of a load applied to the axis; and

combining said load feedback signal in a positive manner into said action error signal before said action error signal is applied to the axis, said load feedback signal combined with said action error signal to reduce said remainder of said desired action in proportion to said load feedback signal and give the axis mechanical flexibility in responding to applied loads.

13. A process in accordance with claim 12, wherein:

said desired action is one of controlling position of the axis, controlling velocity of the axis and controlling current supplied to the axis.

14. A process in accordance with claim 12, wherein:

said above steps are performed continuously during operation of the programmed-controlled machine.

15. A process in accordance with claim 12, wherein:

said loads are externally applied to the axis and in a direction opposite to said desired action.