Robot axis controller employing feedback and open loop (feedforward) control
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United States of America Patent
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Mar 27, 1990
Grant Date -
N/A
app pub date -
Apr 4, 1988
filing date -
Apr 4, 1988
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A digital robotic axis controller which employs a digital processor to apply the inverse of a plant model transfer function to positional information representative of a target path to generate a feed forward position control signal and to combine an error signal with the positional information to generate a feedback control signal. The feed forward and feedback control signals are combined to produce a total position control signal which is supplied to a digital-to-analog converter and then to a plant comprising an amplifier, a motor for establishing the actual position of a robotic member, and an encoder for deriving the error signal from the motor position. In application, a number of such plants are controlled to achieve a coordinated multidimensional movement with increased accuracy.
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