发明授权
US4488242A Robot arm control method using open loop control in combination with
closed loop control
失效
机器人手臂控制方法采用开环控制结合闭环控制
- 专利标题： Robot arm control method using open loop control in combination with closed loop control
- 专利标题（中）： 机器人手臂控制方法采用开环控制结合闭环控制
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申请号： US333056申请日： 1981-12-21
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公开(公告)号： US4488242A公开(公告)日： 1984-12-11
- 发明人: Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
- 申请人： Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
- 申请人地址： JPX Kawasaki
- 专利权人： Fujitsu Limited
- 当前专利权人： Fujitsu Limited
- 当前专利权人地址： JPX Kawasaki
- 优先权： JPX55-182458 19801222
- 主分类号： B25J9/16
- IPC分类号： B25J9/16 ; B25J13/00 ; G05B19/18 ; G05B19/39 ; G05B19/4103 ; G06F15/46 ; G05B19/22
摘要：
A method for controlling the locus of an arm of an arm type robot or the like, wherein a control system which drives a first arm of a two-joint arm under open-loop control and a second arm under feedback control is provided. A bang-bang drive system is used for positioning the first arm in a minimum time. The position of the tip of the second arm can be detected either from the rotational angle of each arm or by means of a position recognizing device. Furthermore, an arm positioning method for rapidly bringing the tip of a multi-joint arm to a desired position while detecting the positions of its tip and its joints by simple calculations is disclosed.
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