Title:
MODEL TRACKING CONTROLLER
Document Type and Number:
Japanese Patent JPS63150705
Kind Code:
A
Abstract:
PURPOSE:To attain model tracing control at continuous locus by calculating a step input of a model tracking control at each prescribed period from a discrete equation of a model at each prescribed period based on an object locus after a prescribed period and present operating state information of a robot. CONSTITUTION:When an object position R to be reached to an operation pattern generator 1 is inputted, a joint angle thetar of each axis of a robot 15 at each control period or several control periods is calculated by the generator 1. A step input calculator 20 calculates a step input (r) with respect to a model 3 in which the model 3 outputs object command information at each control period or at each prescribed several control periods corresponding to the inputted object position to a robot 15 based on the information thetar from the controller or the present operation state of the robot 15 at each control period or at each several control period, that is the present position information thetap, speed information theta'p of the robot 15. The model 3 applies operation control to the robot 15 at each prescribed period based on the input (r) to apply consecutive locus operation to the robot 15.
Inventors:
KURAMI KUNIHIKO
AKUTAGAWA KIYOSHI
AKUTAGAWA KIYOSHI
Application Number:
JP29777086A
Publication Date:
June 23, 1988
Filing Date:
December 16, 1986
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
G05B19/18; G05B19/404; G05D3/12; (IPC1-7): G05B19/403
Attorney, Agent or Firm:
Yasuo Miyoshi