Title:
【発明の名称】デジタル適応制御装置
Document Type and Number:
Japanese Patent JP2881873
Kind Code:
B2
Abstract:
PURPOSE:To attain highly precise positioning control by arranging a repetitive learning unit and a multiple layer neural circuit model-type learning unit so as to constitute the learning unit of two steps. CONSTITUTION:A position detector 5 which can highly precisely measure a mechanical load four axes end position thetaa is provided, a position error ea with a command value thetad is detected and a repetitive learning controller 8 first learns a highly precise positioning command sequence for respective control sampling based on error information. Then, a multiple layer neural circuit model 9 is caused to learn with the command sequence as a teacher signal so as to generate an error occurrence dynamic model. Since learning control is constituted so that it is executed in two steps, adaptive and highly precise positioning control which is difficult to be realized in a single learning unit can be executed.
Inventors:
BABA TAKAO
Application Number:
JP32204389A
Publication Date:
April 12, 1999
Filing Date:
December 12, 1989
Export Citation:
Assignee:
MITSUBISHI DENKI KK
International Classes:
B25J9/10; G05B13/02; G05D3/12; G06N3/00; (IPC1-7): G05D3/12; B25J9/10; G05B13/02; G05D3/12
Domestic Patent References:
| JP61253505A | ||||
| JP61173303A |
Attorney, Agent or Firm:
Kaneo Miyata (2 outside)