Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1978-03-03
1979-10-30
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318571, 364468, 414 5, G06F 1546
Patent
active
RE0301329
ABSTRACT:
A program control system is disclosed wherein the coordinates of a plurality of specified points of a prescribed path in the space to be traced by a manipulator assembly which are spaced apart from each other by a line segment of the same unit length are stored in a storage device in a teaching mode, and one set of coordinates of the adjacent specified points are simultaneously and sequentially read out from the storage device in a repeat mode so that the position command signals or coordinates of a plurality of interpolation points between the adjacent specified points are obtained by linear interpolation and are sequentially compared, at a predetermined time interval, with the actual or present positions of the manipulator assembly. The manipulator assembly is displaced at a velocity corresponding to the difference between the position command signal and the actual or present position signal so that the difference may become zero.
REFERENCES:
patent: 3109092 (1963-10-01), Lott et al.
patent: 3372268 (1968-03-01), Hoernes
patent: 3589134 (1971-06-01), Hackmann
patent: 3661051 (1972-05-01), Dunne et al.
patent: 4007410 (1977-02-01), Hashimoto
Dobeck B.
Unimation Inc.
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