Title:
HIGH-PRECISION POSITION CONTROLLING METHOD IN CONSIDERATION OF DYNAMIC CHARACTERISTIC OF ROBOT
Document Type and Number:
Japanese Patent JPS5916003
Kind Code:
A
Abstract:
PURPOSE:To realize high-precision, fast operation by dividing a normative track into several sections, and checking dynamic characteristics of respective sections and applying them to control. CONSTITUTION:The part wherein high-precision control is required is divided into several sections. The relation between a target signal (g) and a response signal m0 that a robot has normally in each section is recorded. Then, the signal obtained by superposing a unit excitation signal delta upon the signal is used in each section for the reproduction of the robot. The response difference (h) between a current response signal m1 and the last response signal m0 is recorded. The signal (h) is the response to the signal delta. The coefficient of the signal delta is so determined that the deviation (d) between the signal (g) and signal m1 is canceled. Thus, a new unit excitation signal delta is added to the target signal (g) to generate a new command signal (c). The deviation from a target due to oscillation originating from the dynamice characteristics of the robot is canceled to improve the positioning precision of the robot.
Inventors:
FUJIKAWA TAKESHI
INOUE YOSHIO
MASUDA TERUO
NODA ATSUHIKO
SATOU TAKASHI
INOUE YOSHIO
MASUDA TERUO
NODA ATSUHIKO
SATOU TAKASHI
Application Number:
JP12642982A
Publication Date:
January 27, 1984
Filing Date:
July 19, 1982
Export Citation:
Assignee:
KOBE STEEL LTD
International Classes:
G05D3/12; B25J9/16; G05B13/00; G05B13/02; G05B19/19; (IPC1-7): B25J13/00; G05B13/02; G05D3/12
Attorney, Agent or Firm:
Aoyama