Storage and retrieval machine control system having an encoder a

Details Storage and retrieval machine control system having an encoder a Storage and retrieval machine control system having an encoder a

1995-11-17

1998-08-25

Voeltz, Emanuel Todd

Boots, shoes, and leggings

414273, 414275, 414279, 414280, 414281, G05B 1918, B65G 100

Patent

active

057989206

ABSTRACT:
A storage and retrieval machine comprises a base, a carriage, and a control system. The control system is used to control the movement of the carriage in the vertical direction and/or the movement of the base in the horizontal direction. The control system includes at least one encoder and at least one optical distance meter. The encoder provides relative position information during a middle portion of the SRM trajectory, i.e., during the implementation of a feedback control scheme. The optical distance meter provides absolute position information to the control system at an endpoint of the SRM trajectory, i.e., to verify that the SRM has in fact reached its destination. If the control system controls both the movement of the carriage and the movement of the base, then two encoders and two optical distance meters are used.

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