Electricity: motive power systems – Motor-reversing – Armature or primary circuit control
Patent
1991-12-27
1995-01-03
Downs, Robert W.
Electricity: motive power systems
Motor-reversing
Armature or primary circuit control
395 89, 31856215, 36447431, 36447435, G05B 19415, B25J 916, B25J 1300
Patent
active
053793676
ABSTRACT:
A linear interpolating method used for controlling the movement of a robot in which a speed distribution at the time of linear movement of a multi-articular robot involves a linear acceleration and deceleration so that precision of movement is improved at a driving start point and an end point of the robot. Linear acceleration and deceleration are realized by a discrete time state equation so that a sampling time is reduced and the precision of a straight line is improved while making high speed movement possible. The method computes a positional deviation on the basis of the present position and a target position and then exact driving is maintained via compensating for positional deviation.
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Downs Robert W.
Samsung Electronics Co,. Ltd.
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