Movable apparatus driving system

G - Physics – 05 – B

Patent

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342/10, 341/97

G05B 19/42 (2006.01) G05B 19/423 (2006.01)

Patent

CA 1233222

A MOVABLE APPARATUS DRIVING SYSTEM ABSTRACT OF THE DISCLOSURE A movable apparatus drive system includes, a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal con- stituted by the environmental information data and the command signal. Moreover, a robot control system comprises; a control device for controlling a motion of the robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of said spring messianism by a predetermined gain, and the control device controls the motion of the robot in response to the audition of a position command generated from the control means and the deflection feedback value.

475684

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