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US 4,733,150 AGranted
Device and method for compensating the gravitational effect on an element, raisable and lowerable by an electric motor, of a machine tool or of a robot
AssigneeSiemens Aktiengesellschaft
InventorsWolfgang Papiernik, Johann Steff
Life of this patent
Estimating the term…
Abstract
For use with overhead axes of a machine tool or the axes which ride astride one another of a robot, the gravitational effect can be eliminated for controlled drives if a control variable which opposes the gravitational effect is inserted into the control loop of the controller. By this arrangement, a wide control range can be achieved for the overall machine tool or system.
Claims2
A method for compensating a gravitational effect on a moveable element of a machine such as a machine tool or a robot, comprising the steps of:
- positioning the moveable element in a predetermined sequence of positions while setting a controller which initially has no control variable input to maintain each respective position;
- recording each respective resulting manipulated variable output of said controller which corresponds to each respective predetermined position;
- superposing as a subsystem control variable each recorded manipulated variable for each of the sequence of positions respectively;
- and
- optimizing the setting of the controller.
2 more elements
Dependencies are inferred from the claim text.