Back to results
US 4,639,652 AGranted
Control system for robot manipulator
AssigneeNissan Motor Co., Ltd.
InventorsTohru Takahashi, Kunihiko Kurami
Life of this patent
Estimating the term…
Abstract
A control system for an multi-articulation robot manipulator in which an electric current used to drive the robot manipulator is detected and compared with a predetermined level band near the saturated current level of the electric current, and a feedback gain is adjusted such that the detected electric current reaches within the predetermined level band.
Claims2
A control system for a controlled body whose motion is controlled by the output of an electric motor comprising:
- a source providing electric current for the motor;
- a feedback loop providing feedback signals from the output of the motor to the source including means for adjusting gain in the feedback signals;
- means for detecting a value representing electric current supplied from said source for driving the motor;
- means for comparing the detected value with a predetermined band having maximum and minimum levels based on the saturated electric current level of the motor;
- and
- means responsive to the comparison for adjusting the feedback gain so that the detected value is maintained within said predetermined band to control the characteristic motion of the controlled body.
3 more elements
A control method for a controlled body whose motion is controlled by the output of an electric motor comprising:
- supplying electric current for driving the motor;
- providing feedback signals from the output of the motor to the supply through a feedback loop having means for adjusting gain in the feedback signals;
- detecting a value representing electric current supplied for driving the motor;
- comparing the detected value with a predetermined band having maximum and minimum levels based on the saturated electric current level of the motor;
- and
- adjusting the feedback gain responsive to the comparison so that the detected value is maintained within said predetermined band to control the characteristic motion of the controlled body.
3 more elements
Dependencies are inferred from the claim text.