Axis controller for robotic actuator

Details Axis controller for robotic actuator Axis controller for robotic actuator

1983-03-02

1985-01-15

Dobeck, B.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318632, 318603, 318618, 318608, 364174, 364178, 364513, G05B 1942

Patent

active

044940602

ABSTRACT:
A control for a robotic actuator employs a position processor to determine the phase of a pair of electrooptically generated position signals as well as to keep track of the number of whole cycles of the position signals. Whole cycles are tracked using a prediction technique depending upon the continuity of position and velocity. A command processor employing the sensed position produces a velocity signal for driving the robotic actuator. When very slow motion is sensed, the response of the controller is appropriately reduced to maintain a velocity command signal generally in proportion to the motion.

REFERENCES:
patent: 3917930 (1975-11-01), Davey et al.
patent: 4140953 (1979-02-01), Dunne
patent: 4223257 (1980-09-01), Miller
patent: 4310878 (1982-01-01), Hyatt
patent: 4423365 (1983-12-01), Turner
patent: 4453221 (1984-06-01), Davis

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