Industrial robot positioning system - has speed and acceleration controls with servo mechanism for accurate fine control

摘要

The positioning system has a position signal-adjustment device for producing a position command signal which causes an operating or position member of a series to be brought directly or in stages into a number of required positions. A speed control device converts the position command signal into one which, at a predetermined speed, increases or decreases. An acceleration control converts an excessively strong fluctuating part of the output signal of the speed control into a smooth compensated signal. A servo-positioning mechanism which receives the acceleration control output signal as input signal, provides a high feed-back smoothing amplification, but no time delay for the acceleration control, so that the positioning of the operating or position member is achieved with a higher degree of accuracy.