Control apparatus for multi-jointed arm mechanism

Details Control apparatus for multi-jointed arm mechanism Control apparatus for multi-jointed arm mechanism

1984-10-17

1986-08-05

Roskoski, Bernard

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318561, 364131, 364148, G05B 1910

Patent

active

046045619

ABSTRACT:
In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.

REFERENCES:
patent: 3538315 (1970-11-01), Reuteler
patent: 3665168 (1972-05-01), Canfield
patent: 3758762 (1973-09-01), Littman
patent: 4201937 (1980-05-01), Irie
patent: 4213175 (1980-07-01), Kurihara
patent: 4221997 (1980-09-01), Flemming
patent: 4308584 (1981-12-01), Arai
patent: 4407017 (1983-09-01), Zhilikov
patent: 4467436 (1984-08-01), Chance
patent: 4490660 (1984-12-01), Tsuchihashi

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