Model tracking controller
专利汇可以提供Model tracking controller专利检索，专利查询，专利分析的服务。并且PURPOSE: To attain model tracing control at continuous locus by calculating a step input of a model tracking control at each prescribed period from a discrete equation of a model at each prescribed period based on an object locus after a prescribed period and present operating state information of a robot.
CONSTITUTION: When an object position R to be reached to an operation pattern generator 1 is inputted, a joint angle θr of each axis of a robot 15 at each control period or several control periods is calculated by the generator 1. A step input calculator 20 calculates a step input (r) with respect to a model 3 in which the model 3 outputs object command information at each control period or at each prescribed several control periods corresponding to the inputted object position to a robot 15 based on the information θr from the controller or the present operation state of the robot 15 at each control period or at each several control period, that is the present position information θp, speed information θ'p of the robot 15. The model 3 applies operation control to the robot 15 at each prescribed period based on the input (r) to apply consecutive locus operation to the robot 15.
COPYRIGHT: (C)1988,JPO&Japio，下面是Model tracking controller专利的具体信息内容。
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