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:
May. 12, 1987
Filed:
Nov. 22, 1985
Applicant:
Inventors:
Richard Bartelt, Erlangen, DE;
Christof Meier, Heroldsbach, DE;
Assignee:
Siemens Aktiengesellschaft, Munich, DE;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
318568 ; 364174 ;
Abstract
For reducing the dead time in the control circuit for the track control of an industrial robot (IR), a sensor signal (s) is fed back not at the interpolation clock frequency, but at the faster position control frequency. For this purpose it is necessary to transform the correction vector (c) derived from the sensor signal (s) separately into robot-referred coordinates (.DELTA., .alpha.) and to feed it back to the input of the position control. The actualization of arm position dependent transformation parameters (b.sub.mn) can take place at the interpolation frequency.