Precise positioning apparatus

Details Precise positioning apparatus Precise positioning apparatus

1988-01-26

1989-09-19

Ro, Bentsu

Electricity: motive power systems

Positional servo systems

With compensating features

318630, G05B 1101

Patent

active

048684759

ABSTRACT:
Apparatus comprising driving apparatus coupled to a load, sensing apparatus for sensing at least one of position, velocity and acceleration being coupled to the driving apparatus, apparatus for determining input power to the driving apparatus, inaccuracy compensation control apparatus receiving a first input from the sensing apparatus and a second input from the apparatus for determining input power and providing a compensated output indication indicating at least one of the position, velocity, force and acceleration of the load on the basis of information regarding non-linearities 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.

REFERENCES:
patent: 3766461 (1973-10-01), Leenhouts
patent: 3794902 (1974-02-01), Nishimura et al.
patent: 4404626 (1983-09-01), Aoyama
patent: 4502108 (1985-02-01), Nozawa et al.
patent: 4580229 (1986-04-01), Koyama et al.
patent: 4651073 (1987-03-01), Shimizu et al.
patent: 4743823 (1988-05-01), Fujita
M. Vidyassager, System Theory and Robotics, IEEE Control Systems Magazine, vol. 7, No. 2, Apr. 1987, pp. 16-17.
Historical Perspective & State of the Art in Robot Force Control, The Int'l Journal of Robotics Research, No. 1, Spring 1982, Published by M.I.T.
Joint Torque Control by a Direct Feedback for Industrial Robots, J. Y. S. Luh et al., IEEE Transactions on Automatic Control, vol. AC-28, No. 2, Feb. 83, pp. 153-160.

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