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Control system for robot manipulator

  • US 4,639,652 A
  • Filed: 06/18/1985
  • Issued: 01/27/1987
  • Est. Priority Date: 06/19/1984
  • Status: Expired due to Fees
First Claim
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1. A control system for a controlled body whose motion is controlled by the output of an electric motor comprising:

  • a source providing electric current for the motor;

    a feedback loop providing feedback signals from the output of the motor to the source including means for adjusting gain in the feedback signals;

    means for detecting a value representing electric current supplied from said source for driving the motor;

    means for comparing the detected value with a predetermined band having maximum and minimum levels based on the saturated electric current level of the motor; and

    means responsive to the comparison for adjusting the feedback gain so that the detected value is maintained within said predetermined band to control the characteristic motion of the controlled body.

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