Process for controlling the movements of an axis on program-controlled machines and control system
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United States of America Patent
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Jun 29, 1993
Grant Date -
N/A
app pub date -
Jul 6, 1990
filing date -
Jul 8, 1989
priority date (Note) -
Expired
status (Latency Note)
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Abstract
The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.
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