Control method for a robot

Details Control method for a robot Control method for a robot

2011-01-18

2011-01-18

Tran, Khoi (Department: 3664)

Electricity: motive power systems

Positional servo systems

Antistatic friction features

C700S245000, C700S250000, C901S002000, C318S568220

Reexamination Certificate

active

07872436

ABSTRACT:
An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

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Smyth et al, “Phase and Amplitude Sinusoidal Dither Adaptive Control System,” Oct. 1963, IEEE Transactions on Automatic Control, pp. 311-321.
Hong, Tian et al., “Control of Nonlinear Piezoelectric Stack Using Adaptive Dither,”Proceedings of the American Control Conference, Seattle Washington, pp. 76-80, Jun. 1995.

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