B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
341/97, 342/22.1
B25J 13/00 (2006.01) B25J 9/16 (2006.01) G05B 19/23 (2006.01)
Patent
CA 1215444
Abstract CONTROL SYSTEM FOR MANIPULATOR A control system is provided for servo controlled apparatus such as a programmable manipulator having a manipulator arm movable in a plurality of axes. The control system provides improved dynamic performance and control of the manipulator arm over a wide range of arm loads, dynamic operating parameters of the arm and over the full range of operating positions. The control system for one or more of the controlled axes includes servo control loops utilizing various feedback signals. In one arrangement, an inertia correlated signal provided as a pressure signal from a hydraulic actuator of an appropriate axis is utlized in combination with a function generator circuit to provide variable inertial scaling of selected loop command signals. The axis utilized for the pressure signal is determined by the mounting of the manipu- lator apparatus so as to provide a signal correlated to the inertial mass system of the manipulator arm. A pressure signal from an actuator of an axis to be controlled is utlized to initialize the command signals for the axis upon power turn-on of the control system to provide stabilization of the mani- pulator arm during the power turn-on and initializing phase.
449041
Smart & Biggar
Unimation Inc.
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