Title:
DRIVING DEVICE
Document Type and Number:
Japanese Patent JPS636602
Kind Code:
A
Abstract:
PURPOSE:To avoid the undesired actions due to noise by adding a deviation and a compensation signal by an adder to supply them to a drive means and eliminating the blind sector of the drive means. CONSTITUTION:A driving device detects the position information on a robot arm 3 serving as a body to be controlled and obtains the deviation between this output signal V0 and the command signal Vi received from an operator through an adder 5. This deviation is compared with the prescribed threshold value epsilon0 by a comparator 7 and the sent to holding circuit 9. While a compensation signal generator 11 produces a compensation signal in response to said deviation to send it to the circuit 9. These signals are added together by an adder 15 and an actuator 13 is driven via an amplifier 17 and a motor 19. Thus the arm 3 is actuated as prescribed. Then said compensation signal serves as the compensation value of the blind sector of the actuator 13 of the arm 3. As a result, the deviation epsilon is reduced less and therefore the arm 3 can be positioned with high accuracy.
Inventors:
TAKAGI HIROAKI
ARIGA TAKETO
ARIGA TAKETO
Application Number:
JP15090186A
Publication Date:
January 12, 1988
Filing Date:
June 27, 1986
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
G05B5/01; G05B11/36; G05D3/12; (IPC1-7): G05B5/01; G05B11/36; G05D3/12
Attorney, Agent or Firm:
Kimura Takahisa
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