Programmable robot

A programmable robot, including at least one movable member which is displaceable with respect to a reference position in the direction of a corresponding degree of freedom and at least one corresponding control unit, said at least one control unit comprising a sensor responsive to the position of said movable member with respect to the reference position to furnish a positional datum representing the position of the movable member;

• a control system comprising means for producing a command datum and means responsive to said positional and command data to calculate an error datum and to produce a control signal the amplitude of which is a function of the error datum, said function comprises an integral expression of said error datum, said function has the form a.sub.1 +a.sub.2 +a.sub.3 (d/dt)+a.sub.0 dt where a.sub.0, a.sub.1, a.sub.2 and a.sub.3 are constant parameters, an actuator responsive to said control signal to displace said movable member with respect to said reference position, so as to tend to eliminate the error;
• memory means responsive to a first external action to store said positional datum of the movable member;
• and mode-selecting means responsive to a second external action for selectively enabling a training mode of said control system wherein said command datum used for the calculation of said error datum is kept constant during each interval of time between two consecutive ones of successive instants, at each of them said command datum is rendered identical with said positional datum.

A programmable robot, including at least one movable member which is displaceable with respect to a reference position in the direction of a corresponding degree of freedom and at least one corresponding control unit, said at least one control unit comprising a sensor responsive to the position of said movable member with respect to the reference position to furnish a positional datum representing the position of the movable member;

• a control system comprising means for producing a command datum and means responsive to said positional and command data to calculate an error datum and to produce a control signal the amplitude of which is a function of the error datum, said control system comprises calculating means responsive to said positional datum, said command datum and a standard time signal, to calculate said error datum and then the numerical value of the said function comprising a term proportional to the error datum plus an integral expression of said error datum, an actuator responsive to said control signal to displace said movable member with respect to said reference position, so as to tend to eliminate the error;
• memory means responsive to a first external action to store said positional datum of the movable member;
• and mode-selecting means responsive to a second external action for selectively enabling a training mode of said control system wherein said command datum used for the calculation of said error datum is kept constant during each interval of time between two consecutive ones of successive instants at each of them said command datum is rendered identical with said positional datum.