Title:
SERVOCONTROL METHOD OF ROBOT
Document Type and Number:
Japanese Patent JPS59127112
Kind Code:
A
Abstract:
PURPOSE:To obtain an output to a servomotor by calculating the difference of each deviation during each sampling time from a limited number of sampling value obtained from the present to the past and then totalizing the values obtained by multiplying each difference value by a weight coefficient from the past to the present. CONSTITUTION:The control is possible as if a tachogenerator were available by totalizing the step answers of the difference of deviation obtained from the past to the present. At a time point 0, 0 changes to epsilon0 and DELTAepsilon1u(t-t1) is added at a time point t1; DELTAepsilon2u(t-t2) is added at a time point t2; DELTAepsilon3u(t-t3) is added at a time point t3; and DELTAepsilon4u(t-t4) is added respectively. In other words, the deviation epsilon(t) is regarded as the sum of increments of step answers (b)-(f) of the difference of deviation. The output Y(t) to be applied to a motor is equal to an amount obtained by totalizing the step answers of each deviation increment by regarding each member of an equation 3 as a step input. Then it is possible to obtain the same value as that obtained with a tachogenerator if the output Y(t) is defined as an output to the motor.
Inventors:
HARIKI KAZUO
Application Number:
JP172283A
Publication Date:
July 21, 1984
Filing Date:
January 11, 1983
Export Citation:
Assignee:
FUJIKOSHI KK
International Classes:
G05B21/02; (IPC1-7): G05B21/02
Attorney, Agent or Firm:
Junji Kawauchi