Position feedback control loop of the robot or analyzer improved

摘要

P the feedback controller not linear as it is proposed to insert in the position servo-control loop comprises: a direct route comprising an operational amplifier 12 and a second amplifier 15 forming the sum of the direct signal and its derivative, a branch comprising: a generator of absolute value, 17 - 19, an analog multiplier 16, a divider bridge 20 - 21, a follower amplifier 22 and a bypass circuit 23 - 24. / p