Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1976-10-18
1979-01-02
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318616, G05B 1118
Patent
active
041329376
ABSTRACT:
A programmable manipulator apparatus having an arm movable in a plurality of axes employs a feedback signal representing the dynamic behavior of the end of the manipulator arm for use in stabilizing a positional servo loop especially where the position sensing is performed at a location on the manipulator apparatus which is physically closer to the drive apparatus than the end of the arm. The manipulator apparatus includes encoders for developing position signals representing the position of the manipulator in each of the axes which are stored in a memory. The stored digital signals are utilized as command signals and are compared with the encoder signals to develop an error signal utilized to control movement of the manipulator apparatus. The dynamic feedback signal is selectively combined with the positional error signal in a predetermined manner to stabilize the control and operation of the manipulator arm by providing a high negative dynamic feedback signal during deceleration and a low signal during the acceleration phase thereby avoiding conflict between the positional error signal and the dynamic feedback signals.
REFERENCES:
patent: 3512060 (1970-05-01), Floyd
patent: 3648143 (1972-03-01), Harper
patent: 3727119 (1973-04-01), Stanley et al.
patent: 3777122 (1973-12-01), Borsboom
patent: 3906326 (1975-09-01), Chur
patent: 3934186 (1976-01-01), Hayakawa et al.
Dunne Maurice J.
Engelberger Joseph F.
Rogers Peter F.
Dobeck B.
Unimation Inc.
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