Control method and unit for controlling a manipulator

Details Control method and unit for controlling a manipulator Control method and unit for controlling a manipulator

1986-04-21

1988-09-13

Fleming, Michael R.

Boots, shoes, and leggings

36416701, 364553, G09C 0000

Patent

active

047713895

ABSTRACT:
A control method and unit for controlling an industrial robot or a manipulator in which a parameter a of a transfer function of a reference model is determined in accordance with the positioning time and a moving angle of the manipulator from the starting point to the end point of control and each of control gains are determined in accordance with the parameter thus determined so as to average or make the positioning time uniform among arm shafts of the manipulator. With this construction, the dispersion of the positioning time among the arm shafts are removed and a high speed positioning control of the manipulator is realized.

REFERENCES:
patent: 4243923 (1981-01-01), Whitney et al.
patent: 4280182 (1981-07-01), Mickowski
patent: 4401930 (1983-08-01), Kato et al.
patent: 4408286 (1983-10-01), Kikuchi et al.
patent: 4549271 (1985-10-01), Nozawa et al.
patent: 4578749 (1986-03-01), Kuno et al.
patent: 4604716 (1986-08-01), Kato et al.
patent: 4608651 (1986-08-01), Murakami et al.

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