Title:
CONTROL SYSTEM FOR ROBOT ARM
Document Type and Number:
Japanese Patent JPS62154004
Kind Code:
A
Abstract:
PURPOSE:To remove the resonance of an arm and to attain a stable quick control by applying an exact model matching method to the control of a robot arm by servomotor. CONSTITUTION:According to a positive command i(t) being an input signal, an application control error e(t) between an output ym(t) and an output y(t) of an encoder in a model A is obtained. The application control error e(t) is an error dynamic including an unknown parameter theta(t) and a numeric matrix denoted by a state space parameter, and the output e' of the identifier C of said error is obtained from a torque command u(t) and the output y(t) of the encoder. An identification error epsilon(t) is obtained from e'(t)-e(t), and inputted to an application rule computer D, which appropriately controls plural variables k'(t) and h'(t), and feeds back a control signal to a motor amplifier load system B denoted as a plant.
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Inventors:
KURAKAKE MITSUO
Application Number:
JP29669885A
Publication Date:
July 09, 1987
Filing Date:
December 26, 1985
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J9/16; B25J9/10; B25J13/00; G05B13/00; G05B13/04; G05B19/18; G05D3/12; (IPC1-7): B25J9/10; B25J13/00; G05B13/04; G05B19/18
Domestic Patent References:
| JPS55134406A | 1980-10-20 | |||
| JPS5966705A | 1984-04-16 | |||
| JPS5930104A | 1984-02-17 | |||
| JPS55114930A | 1980-09-04 | |||
| JPS5635206A | 1981-04-07 | |||
| JPS5745604A | 1982-03-15 |
Attorney, Agent or Firm:
Minoru Tsuji