Positional control method and system utilizing same

Details Positional control method and system utilizing same Positional control method and system utilizing same

1986-05-22

1988-02-23

Dobeck, Benjamin

Electricity: motive power systems

Positional servo systems

With stabilizing features

318631, G05B 501

Patent

active

047273038

ABSTRACT:
A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.

REFERENCES:
patent: 4374349 (1983-02-01), Inaba et al.
patent: 4463297 (1984-07-01), Bennett et al.
patent: 4488098 (1984-12-01), Shimonou
patent: 4500823 (1985-02-01), Walrath
patent: 4507594 (1985-03-01), Takemoto
patent: 4540923 (1985-09-01), Kade et al.
patent: 4612489 (1986-09-01), Gunda

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