US4868475A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Precise positioning apparatus
Assignee: Servotronix Ltd
•
Filing: 1988-01-26
•
Granted: 1989-09-19
•
Expires: 2008-01-26
Abstract
Abstract Apparatus comprising driving apparatus coupled to a load, sensing apparatus for sensing at least one of position, velocity and acceleration being coupled to the driving apparatus, apparatus for determining input power to the driving apparatus, inaccuracy compensation control apparatus receiving a first input from the sensing apparatus and a second input from the apparatus for determining input power and providing a compensated output indication indicating at least one of the position, velocity, force and acceleration of the load on the basis of information regarding non-linearities between the driving apparatus and the load including information indicative of whether or not the load is driving the driving apparatus or the driving apparatus is driving the load.
Inventors
- 👤 Joseph Rogozinski
- 👤 Ilan Cohen
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 20:13
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/1641; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/237; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37285; G05B2219/37323; G05B2219/37388; G05B2219/41; G05B2219/41036; G05B2219/41055; G05B2219/41059; G05B2219/49; G05B2219/49169; G05B2219/49292
Claims Analysis
Total Claims: 46
Claim 1
Independent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the position of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 2
Dependent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the position of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 3
Dependent Claim
57 words
The positioning apparatus according to claim 1 also comprising means for indicating the force at the output of the transmission means on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 4
Dependent Claim
53 words
The positioning apparatus according to claim 1 also comprising means for indicating the velocity of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 5
Dependent Claim
53 words
The positioning apparatus according to claim 1 also comprising means for indicating the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 6
Dependent Claim
60 words
The positioning apparatus according to claim 1 also comprising means for indicating the velocity and the force at the output of the transmission means on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 7
Dependent Claim
59 words
The positioning apparatus according to claim 1 wherein said inaccuracy compensation control means comprises means for determining which one of the following three conditions exists: A. the driving means is driving the load; B. the load is driving the driving means; C. the driving means is not driving the load and the load is not driving the driving means.
Claim 8
Dependent Claim
119 words
The positioning apparatus according to claim 6 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristics of the load in accordance with at least the following expression when condition A exists: PL=R{GI+HV+JA+K(Sign V)}+F(P, T°) where G, H, J and K are all temperature dependent constants, R is a function of {GI+HV+JA+K(Sign V)}, F(P, T°) is a linearization table function of P and T°, PL is the position of the load, It is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means and T° is the temperature of the transmission means.
Claim 9
Dependent Claim
119 words
The positioning apparatus according to claim 6 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristic of the load in accordance with at least the following expression when condition B exists: PL=R{LI+MV+NA+Q(Sign V)}+F(P, T°) where L, M, N and Q are all temperature dependent constants, R is a function of {LI+MV+NA+Q(Sign V)}, F(P, T°) is a linearization table function of P and T°, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means and T° is the temperature of the transmission means.
Claim 10
Dependent Claim
120 words
The positioning apparatus according to claim 6 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristic of the load in accordance with at least the following expression when condition C exists: PL=R{SI+TV+UA+W(Sign V)}+F(P, T°) where S, T, U and W are temperature and velocity dependent constants, R is a function of {SI+TV+UA+W(Sign V)}, F(P, T°) is a linearization table function of P and T, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means and T° is the temperature of the transmission means.
Claim 11
Dependent Claim
46 words
The positioning apparatus according to claim 6 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 12
Dependent Claim
46 words
The positioning apparatus according to claim 1 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 13
Dependent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the velocity of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 14
Dependent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the velocity of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 15
Dependent Claim
57 words
The positioning apparatus according to claim 12 also comprising means for indicating the force at the output of the transmission means on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 16
Dependent Claim
53 words
The positioning apparatus according to claim 12 also comprising means for indicating the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 17
Dependent Claim
59 words
The positioning apparatus according to claim 12 wherein said inaccuracy compensation control means comprises means for determining which one of the following three conditions exists: A. the driving means is driving the load; B. the load is driving the driving means; C. the driving means is not driving the load and the load is not driving the driving means.
Claim 18
Dependent Claim
151 words
The positioning apparatus according to claim 15 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following expressions when condition A exists: PL=R{GI+HV+JA+K(Sign V)}+F(P,T°) TL=FF{GI+HV+JA+K(Sign V)} VL=FK(aPL,bTL) where G, H, J and K are all temperature dependent constants, R and FF are functions of {GI+HV+JA+K (Sign V)}, F(P, T) is a linearization table function of P and T°, and FK is a function which gives velocity as the function of position and force; a and b may be any real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means, T° is the temperature of the transmission means, TL is the torque of the load and VL is the velocity of the load.
Claim 19
Dependent Claim
165 words
The positioning apparatus according to claim 15 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following characteristics of the load in accordance with at least one of the following expressions when condition B exists: PL=R{LI+MV+NA+Q(Sign V)}+F(P,T°) TL=FF{LI+MV+NA+Q(Sign V)} VL=FK(aPL,bTL) where L, M, N and Q are all temperature dependent constants, R and FF are functions of {LI+MV+NA+Q (Sign V)}, F(P, T o ) is a linearization table function of P and T°, and FK is a function which gives velocity as the function of position and force; a and b may be real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means, T is the temperature of the transmission means, VL is the velocity of the load and TL is the torque of the load.
Claim 20
Dependent Claim
164 words
The positioning apparatus according to claim 15 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following characteristics of the load in accordance with at least one of the following expressions when condition C exists: PL=R{RI+TV+UA+W(Sign V)}+F(P,T°) TL=FF{SI+TV+UA+W(Sign V)} VL=FK(aPL,bTL) where S, T, U and W are temperature and velocity dependent constants, R and FF are functions of {SI+TV+UA+W (Sign V)}, F(P, T°) is a linearization table function of P and T°, and FK is a function which gives velocity as the function of position and force; a and b may be any real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means, T° is the temperature of the transmission means, TL is the torque of the load, VL is the velocity of the load.
Claim 21
Dependent Claim
46 words
The positioning apparatus according to claim 15 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 22
Dependent Claim
46 words
The positioning apparatus according to claim 12 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 23
Dependent Claim
130 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the force at the output of the transmission means on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 24
Dependent Claim
130 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the force at the output of the transmission means on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 25
Dependent Claim
53 words
The positioning apparatus according to claim 21 also comprising means for indicating the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 26
Dependent Claim
59 words
The positioning apparatus according to claim 21 wherein said inaccuracy compensation control means comprises means for determining which one of the following three conditions exists: A. the driving means is driving the load; B. the load is driving the driving means; C. the driving means is not driving the load and the load is not driving the driving means.
Claim 27
Dependent Claim
92 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristic of the load in accordance with at least the following expression when condition A exists: TL=FF{GI+HV+JA+K(Sign V)} where G, H, J and K are all temperature dependent constants, FF is a function of {GI+HV+JA+K (Sign V)}, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means and TL is the torque of the load.
Claim 28
Dependent Claim
92 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristic of the load in accordance with at least the following expression when condition B exists: TL=FF{LI+MV+NA+Q(Sign V)} where L, M, N and Q are all temperature dependent constants, FF is a function of {LI+MV+NA+Q (Sign V)}, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means and TL is the torque of the load.
Claim 29
Dependent Claim
93 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least the following characteristic of the load in accordance with at least the following expression when condition C exists: TL=FF{SI+TV+UA+W(Sign V)} where S, T, U and W are temperature and velocity dependent constants, FF is a function of {SI+TV+UA+W (Sign V)}, TL is the torque of the load, I is the input power, V is the velocity of the driving means, and A is the acceleration of the driving means.
Claim 30
Dependent Claim
46 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 31
Dependent Claim
53 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises indicating means operative to indicate the position of the load even when the positioning apparatus is at rest, said indicating means comprising means for increasing or decreasing the input power until quasi-static movement of the load is reached.
Claim 32
Dependent Claim
53 words
The positioning apparatus according to claim 23 wherein said inaccuracy compensation control means also comprises indicating means operative to indicate the force of the load even when the positioning apparatus is at rest, said indicating means comprising means for increasing or decreasing the input power until quasi-static movement of the load is reached.
Claim 33
Dependent Claim
46 words
The positioning apparatus according to claim 21 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving apparatus or the driving apparatus is driving the load.
Claim 34
Dependent Claim
53 words
The positioning apparatus according to claim 21 wherein said inaccuracy compensation control means also comprises indicating means operative to indicate the position of the load even when the positioning apparatus is at rest, said indicating means comprising means for increasing or decreasing the input power until quasi-static movement of the load is reached.
Claim 35
Dependent Claim
53 words
The positioning apparatus according to claim 21 wherein said inaccuracy compensation control means also comprises indicating means operative to indicate the force of the load even when the positioning apparatus is at rest, said indicating means comprising means for increasing or decreasing the input power until quasi-static movement of the load is reached.
Claim 36
Dependent Claim
56 words
The positioning apparatus according to claim 21 also comprising means for indicating the position and the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 37
Dependent Claim
56 words
The positioning apparatus according to claim 21 also comprising means for indicating the acceleration and the velocity of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 38
Dependent Claim
58 words
The positioning apparatus according to claim 21 also comprising means for indicating the position, the velocity and the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 39
Dependent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 40
Dependent Claim
126 words
A positioning apparatus comprising: driving means; transmission means coupled to said driving means and to a load; means coupled to said driving means for determining at least one of position, velocity and acceleration of said driving means; means for determining input power to said driving means; inaccuracy compensation control means receiving a first input from said means for determining at least one of position, velocity and acceleration and a second input from said means for determining input power and providing a compensated output indication indicating the acceleration of the load on the basis of information regarding non-linearities between the driving means and the load including information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 41
Dependent Claim
59 words
The positioning apparatus according to claim 36 wherein said inaccuracy compensation control means comprises means for determining which one of the following three conditions exists: A. the driving means is driving the load; B. the load is driving the driving means; C. the driving means is not driving the load and the load is not driving the driving means.
Claim 42
Dependent Claim
182 words
The positioning apparatus according to claim 37 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following characteristics of the load in accordance with at least one of the following expressions when condition A exists: PL=R{GI+HV+JA+K(Sign V)}+F(P,T°) TL=FF{GI+HV+JA+K(Sign V)} VL=FK(aPL,bTL) AL=FQ(aPL,bTL) where G, H, J and K are all temperature dependent constants, R and FF are functions of {G I+H V+J A+K (Sign V)}, F(P, T°) is a linearization table function of P and T o , and FK and FQ are functions which give velocity and acceleration respectively as the function of position and force; a and b may be any real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means T o is the temperature of the transmission means, TL is the torque of the load, VL is the velocity of the load and AL is the acceleration of the load.
Claim 43
Dependent Claim
179 words
The positioning apparatus according to claim 37 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following characteristics of the load in accordance with at least one of the following expressions when condition B exists: PL=R{LI+MV+NA+Q(Sign V)}+F(P,T°) TL=FF{LI+MV+NA+Q(Sign V)} VL=FK(aPL,bTL) AL=FQ(aPL,bTL) where L, M, N and Q are all temperature dependent constants, R and FF are functions of {L I+M V+N A+Q (Sign V)}, F(P, T°) is a linearization table function of P and T°, and FK and FQ are functions which give velocity and acceleration respectively as the function of position and force; a and b may be any real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means, T° is the temperature of the transmission means, VL is the velocity of the load, AL is the acceleration of the load and TL is the torque of the load.
Claim 44
Dependent Claim
180 words
The positioning apparatus according to claim 37 wherein said inaccuracy compensation control means also comprises means for providing an output indication of at least one of the following characteristics of the load in accordance with at least one of the following expressions when condition C exists: PL=R{SI+TV+UA+W(Sign V)}+F(P,T°) TL=FF{SI+TV+UA+W(Sign V)} VL=FK(aPL,bTL) AL=FQ(aPL,bTL) where S, T, U and W are temperature and velocity dependent constants, R and FF are functions of {S I+T V+U A+W (Sign V)}, F(P, T°) is a linearization table function of P and T°, and FK and FQ are functions which gives velocity and acceleration respectively as the function of position and force; a and b may be any real number, PL is the position of the load, I is the input power, V is the velocity of the driving means, A is the acceleration of the driving means, P is the position of the driving means, T° is the temperature of the transmission means, TL is the torque of the load, VL is the velocity of the load, and AL is the acceleration of the load.
Claim 45
Dependent Claim
46 words
The positioning apparatus according to claim 37 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
Claim 46
Dependent Claim
46 words
The positioning apparatus according to claim 36 wherein said inaccuracy compensation control means also comprises means for providing backlash compensation on the basis of said information indicative of whether or not the load is driving the driving means or the driving means is driving the load.
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| 7.5 Years (Year 8) | 1996-09-18 | 1997-03-20 | 1997-09-19 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-09-18 | 2001-03-20 | 2001-09-19 | $7700.00 | Window Closed / Lapsed |