发明授权
- 专利标题: Movable apparatus driving system
- 专利标题(中): 移动式设备驱动系统
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申请号: US78008申请日: 1987-07-24
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公开(公告)号: US4791588A公开(公告)日: 1988-12-13
- 发明人: Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
- 申请人: Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
- 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: JPX59-45045 19840309; JPX59-166995 19840809; JPX59-261482 19841211
- 主分类号: G05B19/42
- IPC分类号: G05B19/42 ; B25J9/18 ; G05B19/423 ; G05B13/00
摘要:
A movable apparatus drive system comprises 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 constituted by the environmental information data and the command signal.Moreover, a robot control system comprises a control device for controlling the motion of a 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 the spring meachnisum by a predetermined gain. The control device controls the motion of the robot in response to the addition of a position command generated from the control means and the deflection feedback value.
公开/授权文献
- USD421630S Combined tea cup holder and card pic 公开/授权日:2000-03-14