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:
Feb. 18, 1992
Filed:
Jul. 05, 1990
Kenji Sogawa, Hirakata, JP;
Matsushita Electric Industrial Co., Ltd., Osaka, JP;
Abstract
A direct-drive robot is controlled by a process in which a digital positional deviation value (between a command value and a value delivered from an encoder for detecting the motion of a movable part to be controlled in the robot) is increased or decreased in accordance with a result of comparison of the digital positional deviation value with a threshold value before the digital positional deviation value is converted to an analog value, and the analog value is then amplified by a gain depending upon the result of the comparison of the digital positional deviation with the threshold value. This enhances the servo rigidity, restrains slight vibrations during a stopping operation of the robot, and achieves smooth operation during a moving operation of the robot.