Electricity: motive power systems – Positional servo systems – With compensating features
Patent
1983-02-25
1985-02-19
Dobeck, B.
Electricity: motive power systems
Positional servo systems
With compensating features
318648, 318561, G05D 23275
Patent
active
045008230
ABSTRACT:
A system is detailed for adaptively compensating for gimbal bearing friction in a gimbal mounted electro-optical system. The system is based on real-time compensation of a predictive value for gimbal bearing friction based on input transducer data to produce a friction compensation output, which is applied to the gimbal drive producing a torque which is equal and opposed to the bearing friction torque to minimize stabilization errors. The system adapts to match friction behavior in both amplitude and transient response (i.e. bandwidth) characteristics.
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patent: 4196380 (1980-04-01), Gustavsson et al.
patent: 4451769 (1984-05-01), Minnich et al.
Gilbert et al; "Adaptive Compensation of an Optical Tracking Telescope", Automatica, vol. 10, pp. 125-131, Pergamon Press (1974).
Dahl, "Measurement of Solid Friction Parameters of Ball Bearings", Symposium of Motion Control, (1977) University of Illinois.
Salisbury, "Active Stiffness Control of a Manipulator in Cartesian Coordinates" 19th IEEE Conference on Decision and Control, vol. I, Dec. 1980.
Handlykken et al., "Control System Analysis and Synthesis for Six Degree Freedom Universal Force Reflecting Hand Controller, 19th IEEE Conference on Decision and Control, vol. 1, Dec. 1980.
Luh et al., "Joint Torque Control by Direct Feedback for Industrial Robots", 20 IEEE Conference on Decision and Control. vol. 1, Dec. 1981.
Wu et al., "Manipulator Compliance Based on Joint Torque Control", vol. 1, Dec. 1980.
Dobeck B.
Sutcliff W. G.
Westinghouse Electric Corp.
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