Title:
ROUTE CONTROLLER FOR RIGID BODY
Document Type and Number:
Japanese Patent JPH03250307
Kind Code:
A
Abstract:
PURPOSE:To prevent the occurrence of the unstable state and the divergent state of a route control system by providing a compensating part where the compensation value is calculated for compensation of a physical parameter error and positively fed back to an arithmetic part. CONSTITUTION:An arithmetic part 1 calculates a controlled variable based on a physical parameter of a rigid body and an external command. The servo parts 29, 40 and 41 apply the optimum control to the part 1 to feed the controlled variable back to the input of the part 1. Then a compensating part 2 has a contact with the part 1 so that the compensation value is calculated and outputted for compensation of the physical parameter error with the velocity information on the rigid body and the controlled variable used as the input information and that the calculated compensation value is positively fed back to the part 1 and added to the controlled variable. In such a constitution, the positive feedback secured by the part 2 functions as an answer delay of the disturbance and can converge this disturbance when the physical parameter error works as the disturbance to the part 1.
Inventors:
WAKUI SHINJI
Application Number:
JP4577090A
Publication Date:
November 08, 1991
Filing Date:
February 28, 1990
Export Citation:
Assignee:
CANON KK
International Classes:
B25J9/10; G05B19/18; G05B19/404; G05D3/12; (IPC1-7): B25J9/10; G05B19/18; G05D3/12
Attorney, Agent or Firm:
Yasunori Otsuka (1 person outside)