Model follower control apparatus

Details Model follower control apparatus Model follower control apparatus

1987-12-16

1989-01-10

Smith, Jerry

Boots, shoes, and leggings

364149, 901 46, 901 9, 901 50, G05B 1300

Patent

active

047978350

ABSTRACT:
An apparatus for model follower control of a robot. The apparatus comprises a source for generating target position data representing a target position for the robot, and an operation pattern generator responsive to the target position data for calculating target angular position data representing target angular positions of the robot for respective control periods. A step input calculating unit calculates step input data based on the target angular position data and the existing robot condition data from a first relationship programmed therein. A reference model responds to the step input data and calculates command data from a second relationship programmed therein. The second relationship is represented by a discrete equation. The command data are used along with the existing robot condition data in controlling the robot in a manner to perform continuous path operation of the robot. The first relationship is represented by an equation derived from the discrete equation used in calculating command data for a control period after a predetermined number of control periods. In another aspect, the reference model has a response characteristic determined by a first pole group and a second pole. The first pole group is set to have the shortest possible time constant, whereas the second pole is set to have a time constant to bring the reference model close to a model having a linear response characteristic.

REFERENCES:
patent: 4707780 (1987-11-01), Gose et al.
patent: 4725942 (1988-02-01), Osuka
patent: 4740885 (1988-04-01), Gose et al.

Affiliated with

Also associated with

Rating

Model follower control apparatus does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Model follower control apparatus, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Model follower control apparatus will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-2112076