B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
341/97
B25J 17/02 (2006.01) B25J 9/16 (2006.01) B25J 13/08 (2006.01)
Patent
CA 1232960
CONTROL SYSTEM FOR MANIPULATOR APPARATUS WITH RESOLVED COMPLIANT MOTION CONTROL Abstract of the Disclosure A control system for manipulator apparatus having a manipulator arm movable in a plurality of axes utilizes resolved compliant motion control to improve servo response character- istics. The position and velocity of the manipulator arm are controlled using load modeling to account for compliance in the arm and to synthesize feedback signals respresenting move- ment of a remote point of the arm to provide a loop bandwidth greater than is possible using feedback signals from inner less remote points of the manipulator that are closer to the drive points. The feedback signals are derived using predeter- mined combinations of force related feedback signals from the axis drive arrangements and position and velocity feedback signals of the manipulator apparatus at points closer to the main drive and support structure of the manipulator and before certain compliant portions of the manipulator arm. To further enhance response and control of the manipulator arm, load modeling is also used to provide controlled deceleration before the manipulator arm is brought to a stop during work operation.
476190
Smart & Biggar
Unimation Inc.
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