Device designed to compensate for non-linearity of machine shafts

US5804940A · kind A · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Friedrich Erkens · Fürth, DE
• Stefan Renard Maetschke · Witzenhausen, DE
• Bernd Quaschner · Großenseebach, DE

Key dates

• Filing date: Dec 12, 1996
• Grant date: Sep 8, 1998
• Expiry date: Dec 12, 2016

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/41084
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for the numerical control of machines with several axes, in particular machine tools and robots, to compensate for the inaccuracies occurring when the axes are reversed, wherein varying friction conditions, as well as slackness and torsional effects are compensated using a friction precontrol. Rotation speed reference values are corrected by injecting a correction pulse with an acceleration-dependent injection amplitude and a constant decay time for each axis at the time of passage from one quadrant to another, with the associated change in direction. The injection amplitude and constant decay time are determined for each machine manually or learned in an additional embodiment automatically in a self-learning system in the form of a neural network.