Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1984-06-05
1986-07-29
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318632, 364513, 901 45, G05B 1942
Patent
active
046032843
ABSTRACT:
A control system for manipulator apparatus having a manipulator arm movable in a plurality of axes utilizes resolved compliant motion control to improve servo response characteristics. The position and velocity of the manipulator arm are controlled using load modeling to account for compliance in the arm and to synthesize feedback signals representing movement of a remote point of the arm to provide a loop bandwidth greater than is possible using feedback signals from inner less remote points of the manipulator that are closer to the drive points. The feedback signals are derived using predetermined combinations of force related feedback signals from the axis drive arrangements and position and velocity feedback signals of the manipulator apparatus at points closer to the main drive and support structure of the manipulator and before certain compliant portions of the manipulator arm. To further enhance response and control of the manipulator arm, load modeling is also used to provide controlled deceleration before the manipulator arm is brought to a stop during work operation.
REFERENCES:
patent: 4219766 (1980-08-01), Lin
patent: 4362978 (1982-12-01), Pollard et al.
Dobeck B.
Unimation Inc.
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