Precise positioning apparatus

Details Precise positioning apparatus Precise positioning apparatus

1987-10-08

1989-08-15

Ro, Bentsu

Electricity: motive power systems

Positional servo systems

With compensating features

318630, G05B 1101

Patent

active

048578169

ABSTRACT:
Positioning apparatus comprising driving apparatus to a load, position sensing apparatus coupled to the driving apparatus, apparatus for sensing input power to the driving apparatus, inaccuracy compensation control apparatus receiving a first input from the position sensing apparatus indicating the position of the driving apparatus and a second input from the apparatus for sensing input power and providing a compensated output indication indicating the position of the load on the basis of information regarding non-linearities in position changes between the driving apparatus and the load including information indicative of whether or not the load is driving the driving apparatus or the driving apparatus is driving the load.

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patent: 4249117 (1981-02-01), Leukhardt et al.
patent: 4404626 (1983-09-01), Aoyama
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patent: 4580299 (1986-04-01), Koyama et al.
patent: 4638221 (1987-01-01), Brignall
Whitney, D., "Historical Perspective and State of the Art in Robot Force Control", International Journal of Robotics Research, vol 6, No. 1, Spring, 1987, pp. 3-14.
Luh, J., et al., "Joint Torque Control by a Direct Feedback for Industrial Robots", IEEE Transactions on Automatic Control, vol. 28, No. 2, Feb. 1983, pp. 153-156 & 158-160.
Vidyasagar, M., "System Theory and Robotics", IEEE Control Systems Magazine, Apr., 1987, pp. 16-17.

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