Position correcting control system for servomechanism device
US4788482A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jul 21, 1987 |
| Grant date | Nov 29, 1988 |
| Priority date | — |
| Expiry date | Jul 21, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/37357
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.