Electricity: motive power systems – Positional servo systems – Digital or numerical systems
Patent
1990-07-05
1992-02-18
Ip, Paul
Electricity: motive power systems
Positional servo systems
Digital or numerical systems
318571, 318616, G05B 1925
Patent
active
050897586
ABSTRACT:
A direct-drive robot is controlled by a process in which a digital positional deviation value (between a command value and a value delivered from an encoder for detecting the motion of a movable part to be controlled in the robot) is increased or decreased in accordance with a result of comparison of the digital positional deviation value with a threshold value before the digital positional deviation value is converted to an analog value, and the analog value is then amplified by a gain depending upon the result of the comparison of the digital positional deviation with the threshold value. This enhances the servo rigidity, restrains slight vibrations during a stopping operation of the robot, and achieves smooth operation during a moving operation of the robot.
REFERENCES:
patent: 4533991 (1985-08-01), Georgis
patent: 4647826 (1987-03-01), Ota
patent: 4810945 (1989-03-01), Yoneda et al.
Ip Paul
Matsushita Electric - Industrial Co., Ltd.
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