Control apparatus for multi-jointed arm mechanism
US4604561A · kind A · utility
13Cited by
10References
19Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 17, 1984 |
| Grant date | Aug 5, 1986 |
| Priority date | — |
| Expiry date | Oct 17, 2004 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49143
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.