JPS6177906A - マニピユレ−タの制御装置 - Google Patents

マニピユレ−タの制御装置

Info

Publication number
JPS6177906A
JPS6177906A JP19939784A JP19939784A JPS6177906A JP S6177906 A JPS6177906 A JP S6177906A JP 19939784 A JP19939784 A JP 19939784A JP 19939784 A JP19939784 A JP 19939784A JP S6177906 A JPS6177906 A JP S6177906A
Authority
JP
Japan
Prior art keywords
manipulator
control
feedback control
nonlinear compensation
speed
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.)
Granted
Application number
JP19939784A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0550005B2 (de
Inventor
Toru Takahashi
徹 高橋
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP19939784A priority Critical patent/JPS6177906A/ja
Publication of JPS6177906A publication Critical patent/JPS6177906A/ja
Publication of JPH0550005B2 publication Critical patent/JPH0550005B2/ja
Granted 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
    • G05B19/21—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 incremental digital measuring device
    • G05B19/23—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 incremental digital measuring device for point-to-point control
    • G05B19/231—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 incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
JP19939784A 1984-09-26 1984-09-26 マニピユレ−タの制御装置 Granted JPS6177906A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP19939784A JPS6177906A (ja) 1984-09-26 1984-09-26 マニピユレ−タの制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP19939784A JPS6177906A (ja) 1984-09-26 1984-09-26 マニピユレ−タの制御装置

Publications (2)

Publication Number Publication Date
JPS6177906A true JPS6177906A (ja) 1986-04-21
JPH0550005B2 JPH0550005B2 (de) 1993-07-27

Family

ID=16407103

Family Applications (1)

Application Number Title Priority Date Filing Date
JP19939784A Granted JPS6177906A (ja) 1984-09-26 1984-09-26 マニピユレ−タの制御装置

Country Status (1)

Country Link
JP (1) JPS6177906A (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62234141A (ja) * 1986-04-04 1987-10-14 Nikon Corp グリツプ付きエクステンダ−内蔵カメラレンズ
JPS63111503A (ja) * 1986-10-29 1988-05-16 Fanuc Ltd デイジタル負帰還制御システム
JPS63276607A (ja) * 1987-04-24 1988-11-14 Hitachi Ltd マニピュレータ装置
JP2024070424A (ja) * 2022-11-11 2024-05-23 株式会社日立製作所 制御装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62234141A (ja) * 1986-04-04 1987-10-14 Nikon Corp グリツプ付きエクステンダ−内蔵カメラレンズ
JPS63111503A (ja) * 1986-10-29 1988-05-16 Fanuc Ltd デイジタル負帰還制御システム
JPS63276607A (ja) * 1987-04-24 1988-11-14 Hitachi Ltd マニピュレータ装置
JP2024070424A (ja) * 2022-11-11 2024-05-23 株式会社日立製作所 制御装置

Also Published As

Publication number Publication date
JPH0550005B2 (de) 1993-07-27

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