| 摘要 |
An articulated arm employs a controller to generate delta r, delta THETA and delta z signals for controlling the movement of the arm in r, THETA and z directions to product movement of an end point from an initial location along a desired path toward a desired location. The actual location is determined by sensing the relationships between the arm segments and determining the actual location of the end point. The actual location is continuously compared with the desired location represented by the r, THETA and z signals and, if the difference between the actual location and desired location exceeds preselected limits, the delta r, delta THETA and delta z are scaled down thereby redefining the desired location to ensure that the actual arm movement does not lag an unacceptable amount relative to the desired location.
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