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:
Mar. 31, 1992
Filed:
Oct. 04, 1990
Applicant:
Inventor:
Daniel W Repperger, Vandalia, OH (US);
Assignee:
Other;
Attorneys:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B / ; G06F / ;
U.S. Cl.
CPC ...
395 96 ; 901-2 ;
Abstract
An error-reducing feedback controller for a robotic system wherein a new torque term is added to the existing generated torque in order to compensate for nonlinearity or imperfect modeling accuracy in the existing system. Equations for development of the new torque term using relatively few inputs from the system output are described, along with several examples, including numeric values.