JPS58129604A - 回転位置の制御ル−プに対する制御構造 - Google Patents

回転位置の制御ル−プに対する制御構造

Info

Publication number
JPS58129604A
JPS58129604A JP58012099A JP1209983A JPS58129604A JP S58129604 A JPS58129604 A JP S58129604A JP 58012099 A JP58012099 A JP 58012099A JP 1209983 A JP1209983 A JP 1209983A JP S58129604 A JPS58129604 A JP S58129604A
Authority
JP
Japan
Prior art keywords
motor
control
analog
value
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP58012099A
Other languages
English (en)
Japanese (ja)
Inventor
メイエズ・アル・ムハメツド
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of JPS58129604A publication Critical patent/JPS58129604A/ja
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39178—Compensation inertia arms

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
JP58012099A 1982-01-27 1983-01-27 回転位置の制御ル−プに対する制御構造 Pending JPS58129604A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8201235A FR2520523A1 (fr) 1982-01-27 1982-01-27 Structure de commande analogique pour boucles d'asservissement de la position en rotation d'un moteur a charge inertielle variable
FR8201235 1982-01-27

Publications (1)

Publication Number Publication Date
JPS58129604A true JPS58129604A (ja) 1983-08-02

Family

ID=9270355

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58012099A Pending JPS58129604A (ja) 1982-01-27 1983-01-27 回転位置の制御ル−プに対する制御構造

Country Status (4)

Country Link
US (1) US4549261A (2)
EP (1) EP0085008A1 (2)
JP (1) JPS58129604A (2)
FR (1) FR2520523A1 (2)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6062115U (ja) * 1983-10-05 1985-05-01 三菱電機株式会社 可動体の制御装置
JPS62212802A (ja) * 1986-03-14 1987-09-18 Fanuc Ltd ロボツトア−ムの制御装置

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPH07113856B2 (ja) * 1985-03-20 1995-12-06 東芝機械株式会社 追従誤差制御装置
JPS6327904A (ja) * 1986-07-22 1988-02-05 Hitachi Ltd サ−ボ機構装置の位置修正制御方式
US4845416A (en) * 1987-02-13 1989-07-04 Caterpillar Inc. Electronic valve actuator
GB8806574D0 (en) * 1988-03-19 1988-04-20 Hepworth Eng Ltd Machine tool error compensation systems
JPH0454885A (ja) * 1990-06-19 1992-02-21 Mitsubishi Electric Corp サーボモータ用監視装置
US7904182B2 (en) * 2005-06-08 2011-03-08 Brooks Automation, Inc. Scalable motion control system
CN108638074B (zh) * 2018-06-13 2020-04-07 杭州电子科技大学 一种能够消除回程误差的多自由度机械臂回转方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3250903A (en) * 1961-09-27 1966-05-10 Vasu George Amplitude ratio computer and control system
US3422965A (en) * 1967-02-13 1969-01-21 Westinghouse Electric Corp Manipulator apparatus
US3968352A (en) * 1974-05-17 1976-07-06 Sperry Rand Corporation Torque control system for reaction wheel assemblies and the like
US4052598A (en) * 1976-05-03 1977-10-04 Hycom Incorporated Control system with fast response
DE2656433C3 (de) * 1976-12-14 1983-11-17 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen Verfahren und Anordnung zur Regelung von Manipulatoen und industriellen Robotern
US4243923A (en) * 1979-01-22 1981-01-06 Massachusetts Institute Of Technology Servo-controlled mobility device
US4330752A (en) * 1979-05-14 1982-05-18 Optimetrix Corporation Position control circuit
US4272818A (en) * 1979-07-19 1981-06-09 The Bendix Corporation Position feedback control system for a numerically controlled machine tool
US4398241A (en) * 1980-08-07 1983-08-09 The Singer Company Digital control circuit for an analog servo
US4396975A (en) * 1980-10-01 1983-08-02 Fujitsu Fanuc Limited Position control system for a closed loop type numerical-controlled machine tool
US4387421A (en) * 1981-03-06 1983-06-07 General Electric Company Optimal and adaptive control of variable speed AC motor drives

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6062115U (ja) * 1983-10-05 1985-05-01 三菱電機株式会社 可動体の制御装置
JPS62212802A (ja) * 1986-03-14 1987-09-18 Fanuc Ltd ロボツトア−ムの制御装置

Also Published As

Publication number Publication date
US4549261A (en) 1985-10-22
FR2520523B1 (2) 1984-03-09
FR2520523A1 (fr) 1983-07-29
EP0085008A1 (fr) 1983-08-03

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