Positioning control circuit for automatic manipulator arm - has feed-back of force reaction signal imparting spring control characteristic

摘要

The circuit uses a stored value representing the required spatial position of the controlled device with a position feedback control loop and a subsidiary velocity regulation control. A signal is provided which represents the reaction force acting on the controlled device (2) and which is fed back to the position reference value generator (1) via a feedback loop (11) which converts the force measuring signal to instill the positioning control circuit with a superimposed spring constant characteristic. Pref. the feedback loop (11) for the reaction force siqnal includes a linear amplifier (13) its output fed to an adder (12) combining it with the output of the position reference value generator (1). The positioning can be effected according to a required spring characteristic to obtain good working characteristics between the manipulator arm and a workpiece or between two manipulator arms.