Title:
VIBRATION SUPRRESION POSITIONING CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2002/063401
Kind Code:
A1
Abstract:
A vibration suppression positioning controller for stable positioning carried out in a short time. The controller comprises an integrator (6) for integrating the differential coefficient of a desired position command, a subtracter (7) for subtracting a position command from the output of the integrator (6) so as to output a position command difference, a stable-type prefilter (1) for removing the same frequency component as the vibration pole of a feedback control system (5) when the differential coefficient of the desired position command is inputted, a command fixing means (2) for receiving the output of the stable-type prefilter (1) and the position command difference, judging that a command starts if the differential coefficient of the desired position command changes from zero to a nonzero value, judging that a command ends if the differential coefficient changes from a nonzero value to zero, outputting zero from the time when the position command difference becomes zero until the next command start after the command end, and outputting the output of the stable-type prefilter (1) as it is unless the time period, and a second integrator (4) for integrating the output of the command fixing means (2) and outputting the position command.
Inventors:
ZHANG WENNONG (JP)
KAKU YASUHIKO (JP)
OKUBO TADASHI (JP)
KAKU YASUHIKO (JP)
OKUBO TADASHI (JP)
Application Number:
PCT/JP2002/000531
Publication Date:
August 15, 2002
Filing Date:
January 24, 2002
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
ZHANG WENNONG (JP)
KAKU YASUHIKO (JP)
OKUBO TADASHI (JP)
ZHANG WENNONG (JP)
KAKU YASUHIKO (JP)
OKUBO TADASHI (JP)
International Classes:
G05B5/01; G05B11/36; G05D3/12; (IPC1-7): G05B11/36; G05D3/12
Foreign References:
| JP2000035629A | 2000-02-02 | |||
| US5721477A | 1998-02-24 | |||
| JP2000284805A | 2000-10-13 |
Other References:
MAKOTO IWASAKI ET AL.: "Shindo yokusei koka o koryoshita robot arm no saiteki ichi shirei sekkeiho", THE TRANSACTIONS OF THE INSTITUTE OF ELECTRICAL ENGINEERS OF JAPAN. C, vol. 117-C, no. 1, 20 December 1996 (1996-12-20), pages 50 - 56, XP002952459
See also references of EP 1359480A4
See also references of EP 1359480A4
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