Controller for machine effecting end

Details Controller for machine effecting end Controller for machine effecting end

2007-04-17

2007-04-17

Donovan, Lincoln (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S560000, C318S432000, C318S434000

Reexamination Certificate

active

11304572

ABSTRACT:
A controller for controlling a position of a driven element with respect to a machine effecting end so as to be in accord with a command. An acceleration sensor is mounted to a member of the machine effecting end to which a tool is attached. Acceleration detected by the sensor is subjected to second-order integration by a torsion estimator to obtain displacement Δθ of the machine effecting end from the original position. Position feedback P1of a driven element is subtracted from position command Pc to obtain first position deviation ε1. The displacement Δθ is added to the first position deviation ε1to obtain second position deviation ε2. The second position deviation ε2is subjected to learning control of a learning controller to obtain a correction value, which is added to the first position deviation ε1to obtain velocity command Vc. The second position deviation is the sum of the displacement ε1of the driven element from the commanded position and the displacement Δθ of the machine effecting end relative to the driven element, and thus signifies a positional displacement of the machine effecting end from the commanded position. The second position deviation is subjected to the learning control so as to converge to “0”, whereby the position of the driven element with respect to the machine effecting end becomes in accord with the command.

REFERENCES:
patent: 5371451 (1994-12-01), Toyosawa et al.
patent: 5773938 (1998-06-01), Seong et al.
patent: 5920169 (1999-07-01), Hamamura et al.
patent: 6738679 (2004-05-01), Fujita et al.
patent: 2006/0119307 (2006-06-01), Kiyotani et al.
patent: 1 443 372 (2004-01-01), None
patent: 1 441 270 (2004-07-01), None
patent: 4-323706 (1992-11-01), None
patent: 06-091482 (1994-04-01), None
European Search Report in corresponding Patent Application No. 05257723.6-2206 dated Apr. 25, 2006.

Affiliated with

Also associated with

Rating

Controller for machine effecting end does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Controller for machine effecting end, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Controller for machine effecting end will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-3724482