Robot axis controller employing feedback and open loop (feedforw

Details Robot axis controller employing feedback and open loop (feedforw Robot axis controller employing feedback and open loop (feedforw

1988-04-04

1990-03-27

MacDonald, Allen

Boots, shoes, and leggings

364165, 36416701, G06F 1500

Patent

active

049127535

ABSTRACT:
A digital robotic axis controller which employs a digital processor to apply the inverse of a plant model transfer function to positional information representative of a target path to generate a feed forward position control signal and to combine an error signal with the positional information to generate a feedback control signal. The feed forward and feedback control signals are combined to produce a total position control signal which is supplied to a digital-to-analog converter and then to a plant comprising an amplifier, a motor for establishing the actual position of a robotic member, and an encoder for deriving the error signal from the motor position. In application, a number of such plants are controlled to achieve a coordinated multidimensional movement with increased accuracy.

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General Motors Research Laboratories Research Report MA-366, AES-87-014, entitled "Robodrive Phase I: A Single Axis Implementation of an Advanced Robot Control Algorithm," reported by Loran D. Brooks and Robert M. Goor, pp. 1-59.
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