| 摘要 |
A control system for an automatic machine or robot having an articulated arm, comprising position transducers for sensing the position of the arm, actuators for effecting displacement of the arm and a mini-processor which receives signals from the transducers and feeds signals to the actuators, the mini-processor including a memory in which are stored digital data representing the movement of the arm, the stored data being memorized by the mini-processor at a selected frequency depending on the movement of the arm in a learning mode of operation of the machine, this selection being effected cyclically by sampling the transducer signal at a plurality of different frequencies and then calculating for each sequence of signals sampled at a frequency lower than a maximum frequency the values of the signals at points, interpolated between the sampled points, which would have been sampled at the maximum frequency: the calculated values are then compared with the actual sampled values at the maximum frequency and the lowest sampling frequency at which the error between the calculated values and the sampled values is below a certain threshold is used as the recording frequency for that cycle; when the memorized data is used the processor again interpolates between the recorded points but this time at a frequency much higher than the recording maximum, to generate control signals to be fed to the actuators. |
