Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1995-09-05
1997-04-01
Sircus, Brian
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318606, 318610, 364160, 364163, G05B 1302
Patent
active
056169981
ABSTRACT:
A robot control system generates an offset signal which is added to the control signal for a robot when the velocity error is small. The offset signal is, in each case, based on a previous offset signal added to the then current robot control signal which is updated regularly on discrete increments of time when the velocity error is small. Thus, with the control system when the velocity error is low adds the control signal to the then current offset signal to provide a corrected signal to control the robot. When the velocity error signal is high, the generation and addition of the offset signal is disabled.
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patent: 5119288 (1992-06-01), Hiroi
patent: 5182703 (1993-01-01), Yamamoto
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patent: 5325288 (1994-06-01), Satou
patent: 5394322 (1995-02-01), Hansen
patent: 5465035 (1995-11-01), Scaramuzzo, Jr. et al.
Corbet Todd A.
Lawrence Peter D.
Sepehri Nariman
Rowley C. A.
Sircus Brian
The University of British Columbia
The University of Manitoba
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