Title:
COPYING CONTROL SYSTEM FOR ROBOT
Document Type and Number:
Japanese Patent JPS61253511
Kind Code:
A
Abstract:
PURPOSE:To secure a stable action of a robot to the ramp input by estimating the final operating value obtained after the system response time elapsed from the past operating value at a present time point and adding the operating value equivalent to a sampling period to said estimated value. CONSTITUTION:A controller 22 for estimation of the final operating value is provided to perform the control so that the increase value AN of the operating value is defined as shown by an equation at an optional sampling time point t(=N). Here am, DELTAFN-i, (n) and (m) mean a constant of >=1, the operating value older than the present time point N by the (i) sampling period, the number of the past operating amount and a constant less than the (n) respectively. Thus the offset component and the transient follow-up deviation can be minimized. Then the optimum control is always possible toward the target value and therefore the offset component due to the system response time is extremely reduced. This attains the copying control of a robot with high accuracy.
Inventors:
SATO SHINOBU
YOKOYAMA KAZUHIKO
YOKOYAMA KAZUHIKO
Application Number:
JP9496085A
Publication Date:
November 11, 1986
Filing Date:
May 02, 1985
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
G05D3/00; B25J9/16; B25J13/08; G05B17/02; G05B21/02; G05D3/12; (IPC1-7): B25J13/08; G05B17/02; G05B21/02; G05D3/12
Attorney, Agent or Firm:
Kobori Masashi
Previous Patent: METHOD FOR CONFIRMING ROBOT CONTROL DATA
Next Patent: SELF-DIAGNOSIS DEVICE FOR ON-VEHICLE CONTROLLER
Next Patent: SELF-DIAGNOSIS DEVICE FOR ON-VEHICLE CONTROLLER