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. 28, 1999
Filed:
May. 20, 1997
Junji Kaneko, Kawasaki, JP;
Fujitsu Limited, Kawasaki, JP;
Abstract
A system control device, specifically a control device for allowing a robot manipulator to track an object trajectory, can allow a system to track the object trajectory under undesirable conditions such as an unknown physical parameter featuring a dynamic characteristic and random disturbance. The device comprises a parameter estimation unit 1 for estimating the physical parameters of the system; an adaptive linearization input generation unit 2 for generating a partial input for adaptive linearization compensation for the system based on the estimation result; and a robustness partial input generation unit 3 for generating a partial input to improve the robustness of the system linearized by the partial input. Thus, the robustness of the system can be improved even if the physical parameters cannot be accurately estimated.