Boots – shoes – and leggings
Patent
1983-03-03
1985-11-26
Smith, Jerry
Boots, shoes, and leggings
364513, 901 20, 318606, G06F 1546, G05B 1918
Patent
active
045557586
ABSTRACT:
A method and apparatus for controlling the acceleration of the frequency at the beginning of a pulse train and the frequency at the end of the pulse train, so that a movable element with little rigidity, such as a robot arm, can be started and stopped smoothly without vibration. The method includes storing frequency function in a memory, which frequency function represents an acceleration characteristic or a deceleration characteristic, reading the frequency function out of the memory at a predetermined interval, computing a frequency at the present time, and generating a number of pulses, corresponding to the product of the computed frequency and the predetermined time interval, during the predetermined time interval.
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Inaba Hajimu
Sakakibara Shinsuke
Fanuc Ltd.
Harkcom Gary V.
Smith Jerry
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