Robot axis controller employing feedback and open loop (feedforward) control
US4912753A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Apr 4, 1988 |
| Grant date | Mar 27, 1990 |
| Priority date | — |
| Expiry date | Apr 4, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/39
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital robotic axis controller which employs a digital processor to apply the inverse of a plant model transfer function to positional information representative of a target path to generate a feed forward position control signal and to combine an error signal with the positional information to generate a feedback control signal. The feed forward and feedback control signals are combined to produce a total position control signal which is supplied to a digital-to-analog converter and then to a plant comprising an amplifier, a motor for establishing the actual position of a robotic member, and an encoder for deriving the error signal from the motor position. In application, a number of such plants are controlled to achieve a coordinated multidimensional movement with increased accuracy.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.