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:
Apr. 01, 1997
Filed:
Sep. 05, 1995
Applicant:
Inventors:
Assignees:
The University of British Columbia, Vancouver, CA;
The University of Manitoba, Winnipeg, CA;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
31856822 ; 318606 ; 318610 ; 364160 ; 364163 ;
Abstract
A robot control system generates an offset signal which is added to the control signal for a robot when the velocity error is small. The offset signal is, in each case, based on a previous offset signal added to the then current robot control signal which is updated regularly on discrete increments of time when the velocity error is small. Thus, with the control system when the velocity error is low adds the control signal to the then current offset signal to provide a corrected signal to control the robot. When the velocity error signal is high, the generation and addition of the offset signal is disabled.