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:
Sep. 13, 1988
Filed:
Apr. 21, 1986
Applicant:
Inventors:
Tohru Takahashi, Yukuhashi, JP;
Kunihiko Kurami, Kawasaki, JP;
Assignee:
Nissan Motor Co., Ltd., Yokohama, JP;
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G09C / ;
U.S. Cl.
CPC ...
364513 ; 36416701 ; 364553 ;
Abstract
A control method and unit for controlling an industrial robot or a manipulator in which a parameter a of a transfer function of a reference model is determined in accordance with the positioning time and a moving angle of the manipulator from the starting point to the end point of control and each of control gains are determined in accordance with the parameter thus determined so as to average or make the positioning time uniform among arm shafts of the manipulator. With this construction, the dispersion of the positioning time among the arm shafts are removed and a high speed positioning control of the manipulator is realized.