Device and method for control of flexible link robot manipulator

Details Device and method for control of flexible link robot manipulator Device and method for control of flexible link robot manipulator

1990-07-02

1991-09-17

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

3185682, 31856824, 364513, 901 9, 901 47, 414730, B65B 2102

Patent

active

050497979

ABSTRACT:
A method and device for controlling and dampening undesirable vibrational movement within flexible linkage of a robot arm coupled to a movable, controlled joint and attached drive motor. The method includes the steps of providing position displacement and control in accordance with position and velocity feedback input. In addition, elastic deflection arising within the robot arm is detected and a time-dependent deflection signal proportional to the degree of elastic deflection is generated. A control algorithm develops deflection feedback signals for input to the robot arm which are approximately proportional to the deflection signal and its first two time derivatives, each multiplied by a gain whose value is selected to reduce further elastic deflection. This procedure is applied within flexible robot arm structure by incorporating elastic deflection detection components and by converting the detected deflection signal to deflection feedback signals for application to the drive system of the robot arm. Elastic deflections arising upon movement of the flexible arm structure are almost immediately nullified and the robot arm is allowed to reposition itself without interference from such undesirable forces and resultant robot arm movement.

REFERENCES:
patent: 4570065 (1986-02-01), Pryor
patent: 4593191 (1986-06-01), Alles
patent: 4798461 (1989-01-01), Pavlin et al.
patent: 4808064 (1989-02-01), Bartholet
patent: 4833624 (1989-05-01), Kuwahara et al.

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