Electricity: motive power systems – Positional servo systems – With stabilizing features
Patent
1987-07-21
1988-11-29
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
With stabilizing features
318611, 318685, 901 9, 901 15, 901 19, G05B 501
Patent
active
047884827
ABSTRACT:
The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.
REFERENCES:
patent: 4426608 (1984-01-01), Larson et al.
patent: 4547858 (1985-10-01), Horak
patent: 4609855 (1986-09-01), Andrews
patent: 4727303 (1988-02-01), Morse et al.
Hirabayashi Hisaaki
Ninomiya Hisakazu
Sakai Toshihiko
Sugai Hiroshi
Sugimoto Koichi
Hitachi , Ltd.
Shoop Jr. William M.
Young Brian K.
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