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公开(公告)号：US4986724A
公开(公告)日：1991-01-22
申请号：US307194
申请日：1989-02-03
CPC分类号： B25J9/046 , B25J13/088 , B25J9/1641 , G05B2219/41195 , Y10S414/13
摘要： A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.
摘要翻译： 一种用于准确平稳地移动机械手装置的工具中心点的系统。 该系统包括用于测量操纵器装置的肘部枢转关节和肩部枢转关节处的角度的装置。 通过控制系统预期由于其在第一轴线中的运动而在机械手联动装置的第二轴中的所需的补偿运动能够实现两个轴的基本上同时的运动，并且在这种运动期间枢轴接头的角位置的反馈使得能够 提高工具中心点运动的精度。
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公开(公告)号：US4629955A
公开(公告)日：1986-12-16
申请号：US772292
申请日：1985-09-04
CPC分类号： G05B19/351 , G05B2219/50228
摘要： A method and apparatus for controlling a split axis servo mechanism are provided. Each of the two servo mechanisms is responsive to a single machine member motion command for effecting linear motion of a machine gantry. Velocity skewing of the servo mechanisms is corrected by modifying the gain of one of the servo mechanisms in response to the difference between the actual positions of both. The gain modification effects reduction of the magnitude of the actual position difference.
摘要翻译： 提供了一种用于控制分离轴伺服机构的方法和装置。 两个伺服机构中的每一个响应于单个机器运动命令，用于实现机械机架的直线运动。 通过根据两者的实际位置之间的差异修改伺服机构之一的增益来校正伺服机构的速度偏移。 增益修正会降低实际位置差值的大小。
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公开(公告)号：US5162715A
公开(公告)日：1992-11-10
申请号：US732935
申请日：1991-07-19
IPC分类号： G01D5/20
CPC分类号： G01D5/2073
摘要： A method and apparatus are provided for measurement of absolute position of a moveable machine member wherein output signals of a plurality of position measuring devices are selectively connected to an interface circuit. Each position measuring device produces output signals representing relative position of a device armature and device stator. The position measuring devices are coupled to the machine member so that the absolute position of the machine member anywhere within its range of motion may be uniquely determined from the output signals. A control signal is produce to control the selection of the output signals to be connected to the interface circuit which, at any instant, receives the output signals of a single position measuring device.
摘要翻译： 提供了一种用于测量可移动机器构件的绝对位置的方法和装置，其中多个位置测量装置的输出信号选择性地连接到接口电路。 每个位置测量装置产生表示装置电枢和装置定子的相对位置的输出信号。 位置测量装置联接到机器构件，使得机器构件在其运动范围内任何地方的绝对位置可以从输出信号唯一地确定。 产生控制信号以控制要连接到接口电路的输出信号的选择，该接口电路在任何时刻接收单个位置测量装置的输出信号。
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