METHOD FOR CONTROLLING SERVO MECHANISM FLEXIBLY

Title:

METHOD FOR CONTROLLING SERVO MECHANISM FLEXIBLY

Document Type and Number:

WIPO Patent Application WO/1994/027200

Kind Code:

A1

Abstract:

When flexible control starts, the position gain Kp and the proportional gain K2 of the loop for speed control are set, and then, reduced in accordance with the degree of flexibility. The output of the integrator (2) in the speed control loop is limited to a preset clamping value. As a result, the torque instruction does not become a particularly great value even if the positional deviation increases. Therefore, if there is an obstacle in the traveling path of a movable body driven by the servomotor, it is possible to manually move the movable body to allow the body to go around this obstacle.

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Inventors:

KATO TETSUAKI (JP)
ARITA SOICHI (JP)
NAKAMURA MASARU (JP)

Application Number:

PCT/JP1994/000765

Publication Date:

November 24, 1994

Filing Date:

May 12, 1994

Export Citation:

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Assignee:

FANUC LTD (JP)
KATO TETSUAKI (JP)
ARITA SOICHI (JP)
NAKAMURA MASARU (JP)

International Classes:

G05B13/02; G05B7/02; G05B19/19; G05D3/00; G05D3/12; (IPC1-7): G05D3/12

Foreign References:

JPH01255015A	1989-10-11
JPS61143803A	1986-07-01
JPH01310889A	1989-12-14
JPS63285617A	1988-11-22
JPH0498722U	1992-08-26

Other References: