Method and apparatus for controlling a robot hand along a predet

Details Method and apparatus for controlling a robot hand along a predet Method and apparatus for controlling a robot hand along a predet

1984-06-22

1986-10-14

Dobeck, B.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318636, 364513, G05B 1942

Patent

active

046175024

ABSTRACT:
A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

REFERENCES:
patent: 3934186 (1976-01-01), Hayakawa et al.
patent: 4321516 (1982-03-01), Ohtsuka
patent: 4429260 (1984-01-01), Tradt
patent: 4511985 (1985-04-01), Inaba et al.

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