Patent US4788482A successfully refreshed from Google Patents.
US4788482A
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Position correcting control system for servomechanism device
Assignee: Hitachi Ltd
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Filing: 1987-07-21
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Granted: 1988-11-29
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Expires: 2007-07-21
Abstract
Abstract The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.
Inventors
- 👤 Kyozo Tachibana
- 👤 Toshihiko Sakai
- 👤 Hisaaki Hirabayashi
- 👤 Koichi Sugimoto
- 👤 Hiroshi Sugai
- 👤 Hisakazu Ninomiya
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 15:21
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/1633; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37357
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
106 words
A position correcting control system for a servomechanism device having position detection means for detecting a position within full bounds of a movable range, said system further comprising: means for changing a position of an acting point in accordance with a position target value; sensor means for detecting a state quantity at high precision within a partial range, said state quantity being an end-most quantity in controlling said position of an acting point; means using an output signal of said position detection means as a position feedback variable; and means using an output signal of said sensor means for a correction of the position target value.
Claim 2
Dependent Claim
106 words
A position correcting control system for a servomechanism device having position detection means for detecting a position within full bounds of a movable range, said system further comprising: means for changing a position of an acting point in accordance with a position target value; sensor means for detecting a state quantity at high precision within a partial range, said state quantity being an end-most quantity in controlling said position of an acting point; means using an output signal of said position detection means as a position feedback variable; and means using an output signal of said sensor means for a correction of the position target value.
Claim 3
Dependent Claim
76 words
A position correcting control system for a servomechanism device as defined in claim 1, wherein said sensor means has a function capable of switching a plurality of different detection objects such as a high-precision position and a force, and an algorithm for the position target value correction can be altered as a control purpose at an initial position is changed to a different purpose such as of the high-precision position or force of the acting point.
Claim 4
Dependent Claim
36 words
A position correcting control system for a servomechanism device as defined in claim 1, wherein said sensor means has a threshold characteristic and is operated to reduce the output signal thereof from the position target value.
Claim 5
Dependent Claim
35 words
A position correcting control system for a servomechanism device as defined in claim 1, wherein an element having a response lag characteristic is incorporated in a correcting signal transfer path extending from said sensor means.
Claim 6
Dependent Claim
22 words
A position correcting control system for a servomechanism device as defined in claim 1, wherein said sensor means is a vernier detector.
Claim 7
Dependent Claim
150 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; said sensor having a function capable of switching a plurality of different detection objects such as a high-precision position and a force, and an algorithm for the position target value correction can be altered as a control purpose at an initial position is changed to a different purpose such as of the high-precision position or force of the acting point; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 8
Dependent Claim
150 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; said sensor having a function capable of switching a plurality of different detection objects such as a high-precision position and a force, and an algorithm for the position target value correction can be altered as a control purpose at an initial position is changed to a different purpose such as of the high-precision position or force of the acting point; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 9
Dependent Claim
110 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; said sensor having a threshold characteristic and being operated to reduce the output signal thereof from the position target value; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 10
Dependent Claim
110 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; said sensor having a threshold characteristic and being operated to reduce the output signal thereof from the position target value; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 11
Dependent Claim
116 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; a signal transfer path extending from said sensor means, and an element having a response lag characteristic that is incorporated in said correcting signal transfer path; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 12
Dependent Claim
116 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; a signal transfer path extending from said sensor means, and an element having a response lag characteristic that is incorporated in said correcting signal transfer path; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 13
Dependent Claim
95 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which is a vernier detector and detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
Claim 14
Dependent Claim
95 words
In a servomechanism device having position detection means for detecting a position within full bounds of a movable range, and a sensor which is a vernier detector and detects a state quantity within a partial range at high precision, a position of an acting point being changed in accordance with a position target value; a position correcting control system for a servomechanism device characterized by using an output signal of said position detection means as a position feedback variable, and using an output signal of said sensor for a correction of the position target value.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-11-29 | 1992-05-30 | 1992-11-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-11-29 | 1996-05-30 | 1996-11-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-11-29 | 2000-05-30 | 2000-11-29 | $7700.00 | Window Closed / Lapsed |