Controller for multi-degree-of-freedom manipulator
专利汇可以提供Controller for multi-degree-of-freedom manipulator专利检索，专利查询，专利分析的服务。并且PURPOSE: To speedily cope with a difference and variation in dynamic characteristics due to the individual difference of a manipulator by controlling the manipulator by using a parameter for determining an approximate dynamic characteristic model based on fuzziness logic from an error obtained by an error detection part.
CONSTITUTION: In general, when a manipulator to be controlled is changed, its dynamic characteristic model is also changed. Further, the dynamic characteristic model is changed owing to load variation and a secular change although the manipulator is unchanged. Therefore, this controller identifies the dynamic characteristic model of the manipulator 11 by a fuzziness identifying device 17 and the parameter for control is determined from the identification result. Then, a software servo system suitable to the manipulator 11 to be controlled is constituted according to the parameter, and the manipulator 11 is controlled in real time by this servo system.
COPYRIGHT: (C)1988,JPO&Japio，下面是Controller for multi-degree-of-freedom manipulator专利的具体信息内容。
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