<p>A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.</p>
申请公布号
CA2750113(C)
申请公布日期
2015.11.10
申请号
CA20102750113
申请日期
2010.01.27
申请人
FANUC ROBOTICS AMERICA, INC.
发明人
TSAI, JASON;WONG, ERIC;TAO, JIANMING;MCGEE, H. DEAN;AKEEL, HADI