Control apparatus for multi-jointed arm mechanism

Details Control apparatus for multi-jointed arm mechanism Control apparatus for multi-jointed arm mechanism

G - Physics

05

B

294/9

G05B 19/403 (1985.01)

Patent

CA 1246636

- 1 - Abstract A control apparatus for a multi-jointed arm mechanism having a plurality of arm elements is designed to improve the operating speed of each arm element. A true control error between a remote end of an arm element and a target position thereof, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated. The arm element is then controlled to make this difference zero.

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