Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-07-02
1991-09-17
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185682, 31856824, 364513, 901 9, 901 47, 414730, B65B 2102
Patent
active
050497979
ABSTRACT:
A method and device for controlling and dampening undesirable vibrational movement within flexible linkage of a robot arm coupled to a movable, controlled joint and attached drive motor. The method includes the steps of providing position displacement and control in accordance with position and velocity feedback input. In addition, elastic deflection arising within the robot arm is detected and a time-dependent deflection signal proportional to the degree of elastic deflection is generated. A control algorithm develops deflection feedback signals for input to the robot arm which are approximately proportional to the deflection signal and its first two time derivatives, each multiplied by a gain whose value is selected to reduce further elastic deflection. This procedure is applied within flexible robot arm structure by incorporating elastic deflection detection components and by converting the detected deflection signal to deflection feedback signals for application to the drive system of the robot arm. Elastic deflections arising upon movement of the flexible arm structure are almost immediately nullified and the robot arm is allowed to reposition itself without interference from such undesirable forces and resultant robot arm movement.
REFERENCES:
patent: 4570065 (1986-02-01), Pryor
patent: 4593191 (1986-06-01), Alles
patent: 4798461 (1989-01-01), Pavlin et al.
patent: 4808064 (1989-02-01), Bartholet
patent: 4833624 (1989-05-01), Kuwahara et al.
Ip Paul
Utah State University Foundation
LandOfFree
Device and method for control of flexible link robot manipulator does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Device and method for control of flexible link robot manipulator, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Device and method for control of flexible link robot manipulator will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1919112