The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 09, 1985
Filed:
Mar. 25, 1983
Maurice J Dunne, Newtown, CT (US);
Unimation, Inc., Danbury, CT (US);
Abstract
A control system is provided for servo controlled apparatus such as a programmable manipulator having a manipulator arm movable in a plurality of axes. The control system provides improved dynamic performance and control of the manipulator arm over a wide range of arm loads, dynamic operating parameters of the arm and over the full range of operating positions. The control system for one or more of the controlled axes includes servo control loops utilizing various feedback signals. In one arrangement, an inertia correlated signal provided as a pressure signal from a hydraulic actuator of an appropriate axis is utilized in combination with a function generator circuit to provide variable inertial scaling of selected loop command signals. The axis utilized for the pressure signal is determined by the mounting of the manipulator apparatus so as to provide a signal correlated to the inertial mass system of the manipulator arm. A pressure signal from an actuator of an axis to be controlled is utilized to initialize the command signals for the axis upon power turn-on of the control system to provide stabilization of the manipulator arm during the power turn-on and initializing phase.