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:
Aug. 05, 1986
Filed:
Oct. 17, 1984
Applicant:
Inventors:
Kohji Kamajima, Ibaraki, JP;
Yoshiyuki Nakano, Hitachi, JP;
Masakatsu Fujie, Ibaraki, JP;
Yuji Hosoda, Ibaraki, JP;
Taro Iwamoto, Mito, JP;
Kazuo Honma, Ibaraki, JP;
Assignee:
Hitachi, Ltd., Tokyo, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
318567 ; 318561 ; 364131 ; 364148 ;
Abstract
In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.