Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1977-03-24
1979-04-17
Schaefer, Robert K.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318569, 318570, G05B 1922
Patent
active
041503295
ABSTRACT:
A method and apparatus for moving a device, such as a robot arm, through complex movements. The complex movement is divided into a principal movement between two defined end points A, B. Superposed on the principal movement is a closed loop series of subordinate movements (at least two subordinate movements) which loop is executed, at least once, during the principal movement. Data defining the end points of both principal and subordinate movements is stored in a storage device. Both principal and subordinate movements are divided into a number of equal incremental principal and subordinate movements. The sum of the principal and subordinate incremental movements is a composite incremental movement. Signals related to each composite incremental movement are provided to a drive means for moving the device.
REFERENCES:
patent: 3026040 (1962-03-01), Spencer
patent: 3497780 (1970-02-01), Leenhouts
patent: 3701888 (1972-10-01), McDaniel
patent: 3766369 (1973-10-01), Watanabe et al.
patent: 3864613 (1975-02-01), Cutler
patent: 3890552 (1975-06-01), Devol et al.
ASEA Aktiebolag
Indyk Eugene S.
Schaefer Robert K.
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