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

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takahashi, Tohru, Kurami, Kunihiko
• Primary Examiner(s): Dobeck, Benjamin
• Application Number:
  US06/746,021
• Time in Patent Office: 588 Days
• Field of Search: 318/317, 318/632, 318/619, 318/618, 318/568 L, 318/568 M, 318/432, 318/433
• US Class Current: 318/568.22
• CPC Class Codes: G05B 19/232 with speed feedback only
• CPC Class Codes: G05B 2219/41123 Correction inertia of servo
• CPC Class Codes: G05B 2219/41133 Compensation non linear transfer function
• CPC Class Codes: G05B 2219/41163 Adapt gain to friction, weight, inertia
• CPC Class Codes: G05B 2219/42326 Protection servo for saturation of amplifier
• CPC Class Codes: Y10S 388/90 Specific system operational feature
• CPC Class Codes: Y10S 388/902 Compensation
• CPC Class Codes: Y10S 388/904 Stored velocity profile

Abstract

A control system for an multi-articulation robot manipulator in which an electric current used to drive the robot manipulator is detected and compared with a predetermined level band near the saturated current level of the electric current, and a feedback gain is adjusted such that the detected electric current reaches within the predetermined level band.

Claims

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.

2. A control method for a controlled body whose motion is controlled by the output of an electric motor comprising:

supplying electric current for driving the motor;

providing feedback signals from the output of the motor to the supply through a feedback loop having means for adjusting gain in the feedback signals;

detecting a value representing electric current supplied for driving the motor;

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

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