Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-03-24
1990-09-18
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318571, 318573, 318574, 364513, 901 20, G05B 1942
Patent
active
049581139
ABSTRACT:
The method of controlling a mechanical hand includes releasing the head in its initial position, moving the hand to its target position and retaining the hand in its target position. With the hand moving towards its target position, the path of its travel is divided into a portion registering the parameters of its motion and a portion correcting the law of its motion. With the hand moving over the registering portion, a reference voltage is supplied to the drive motor, and the speed and running coordinate of the moving hand are measured and registered. With the hand moving over the correcting portion, its speed is measured, and the difference between the speeds measured at the two portions is computed to shape an additional voltage. A voltage is then fed to the drive motor, which is an algebraic sum of the reference voltage and additional voltage.
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Ip Paul
Shoop Jr. William M.
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