Movable apparatus driving system

A robot control system comprising:

• means for driving a robot in accordance with a composite command signal supplied to the driving means;
• means associated with a working part of the robot for detecting deflection of the working part produced by an external force applied thereto and producing a detected deflection output;
• means for detecting the current position of the working part of the robot and producing a corresponding, detected current position output;
• a microprocessor and an associated internal memory for storing a predetermined gain value and for storing position values defining a route of movement of the robot from a first position to a target position;
• feedback means responsive to the detected deflection output and including multiplying means, said microprocessor supplying the predetermined gain value stored in the internal memory to said multiplying means and said multiplying means multiplying the detected deflection output by the predetermined gain to produce a deflection feedback command;
• said microprocessor being responsive to the detected current position output and to the position values defining a route of movement of the robot from a first position to a target position to define motion route commands;
• position control means for producing move commands;
• means for generating follow-up displacement commands in response to the outputs of said multiplying means;
• and
• means for adding the motion route commands and the follow-up displcement commands to produce a composite command signal and for supplying the composite command signal to the driving means for driving the robot to the target position.

A driving system for a movable aparatus which is to be driven along a route of movement to a predetermined target position, comprising:

• means for driving the movable apparatus;
• position control means for generating a target position command for position control of the movable apparatus and comprising first output means for outputting the target position to the driving means, the driving means responding thereto to drive the movable apparatus to the target position, means for obtaining current position data of the movable apparatus, and a feedback loop for supplying the obtained current position data as a feedback signal to the position control means to generate the target position command for positioning the movable apparatus at the target position as a function of the obtained and fed back current position data;
• second output means for detecting environmental information data of the movable apparatus and for producing the detected data multiplied by a predetermined gain as an output;
• and
• means for supplying the output of the second output means for the driving means as a position command to control the driving of the movable apparatus thereby, relative to the predetermined target position.

A driving system for at least one arm of a robot which is to be driven along a route of movement to a predetermined target position, comprising:

• means for driving at least one arm of the robot, said means comprising a direct current motor for driving said at least one arm;
• position control means for generating a target position command for position control of said at least one arm of the robot and comprising first output means for outputting the target position command to the direct current motor, the direct current motor responding thereto to drive said at least one arm to the predetermined target position, means for obtaining current position data of said at least one arm, and a feedback loop for supplying the obtained current position data as a feedback signal to the position control means to generate the target position command for positioning said at least one arm at the target position as a function of the obtained and fed back current position data;
• second output means for detecting environmental information data of said at least one arm and for producing the detected data multiplied by a predetermined gain as an output;
• and
• means for supplying the output of the second output means to the direct current motor as a position command to control the driving of said at least one arm thereby, relative to the predetermined target position.