发明名称 |
Control apparatus for multi-jointed arm mechanism |
摘要 |
In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.
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申请公布号 |
US4604561(A) |
申请公布日期 |
1986.08.05 |
申请号 |
US19840661958 |
申请日期 |
1984.10.17 |
申请人 |
HITACHI, LTD. |
发明人 |
KAMAJIMA, KOHJI;NAKANO, YOSHIYUKI;FUJIE, MASAKATSU;HOSODA, YUJI;IWAMOTO, TARO;HONMA, KAZUO |
分类号 |
G05D3/12;B25J9/16;B25J9/18;B25J13/00;B25J13/08;G05B19/414;(IPC1-7):G05B19/10 |
主分类号 |
G05D3/12 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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