Title:
CONTROLLER OF MANIPULATOR
Document Type and Number:
Japanese Patent JPS615303
Kind Code:
A
Abstract:
PURPOSE:To avoid the deterioration of performance of a manipulator owing to a secular change of the mechanical part, by controlling the generating pattern of the target value so that the maximum drive current of the manipulator is set within a range near a saturated current level. CONSTITUTION:A generating pattern controller 14 always monitors the current (i) flowing to a motor 10 via a current detector 13. The current (i) is compared with a level band decided by a saturated current level Imax set to the motor 10 to decide whether the maximum current level of the motor 10 is delivered or not from said level band by a single action. If said maximum current level is delivered from said level band and saturated, the roots lambda1 and lambda2 or a working pattern equation produced by the preceding action are increased by DELTAlambda1 and DELTAlambda2 respectively. Then the control signal is sent to a target pattern generator 1 so that the current is not saturated by the next action.
Inventors:
TAKAHASHI TOORU
Application Number:
JP12447384A
Publication Date:
January 11, 1986
Filing Date:
June 19, 1984
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
G05D3/12; G05B13/00; G05B13/02; G05B19/19; G05B19/4155; (IPC1-7): G05B13/02; G05B19/18; G05D3/12
Attorney, Agent or Firm:
Tomijio Sasashima