Apparatus and method for controlling an industrial robot

Details Apparatus and method for controlling an industrial robot Apparatus and method for controlling an industrial robot

1985-11-22

1987-05-12

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

364174, G05B 1942

Patent

active

046653520

ABSTRACT:
For reducing the dead time in the control circuit for the track control of an industrial robot (IR), a sensor signal (s) is fed back not at the interpolation clock frequency, but at the faster position control frequency. For this purpose it is necessary to transform the correction vector (c) derived from the sensor signal (s) separately into robot-referred coordinates (.DELTA., .alpha.) and to feed it back to the input of the position control. The actualization of arm position dependent transformation parameters (b.sub.mn) can take place at the interpolation frequency.

REFERENCES:
patent: 4594671 (1986-06-01), Sugimoto et al.
Industrie-Anzeiger 106 (1984), No. 23, pp. 31-32.

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