JPH01120202U - - Google Patents

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Publication number
JPH01120202U
JPH01120202U JP1523488U JP1523488U JPH01120202U JP H01120202 U JPH01120202 U JP H01120202U JP 1523488 U JP1523488 U JP 1523488U JP 1523488 U JP1523488 U JP 1523488U JP H01120202 U JPH01120202 U JP H01120202U
Authority
JP
Japan
Prior art keywords
robot
speed
reference model
model
control mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP1523488U
Other languages
Japanese (ja)
Other versions
JPH082725Y2 (en
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1988015234U priority Critical patent/JPH082725Y2/en
Publication of JPH01120202U publication Critical patent/JPH01120202U/ja
Application granted granted Critical
Publication of JPH082725Y2 publication Critical patent/JPH082725Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Feedback Control In General (AREA)
  • Safety Devices In Control Systems (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本考案の一実施例としてのサーボ系の
機能縮退装置の説明図、第２図は従来例の説明図
である。 図面中、１００…入力設定器、１０１…ロボツ
ト及び駆動装置、１０２…参照モデル装置、１０
３…適応制御機構、１０４…位置ゲイン調節機構
、１０５…速度フイードバツクゲイン調節機構、
１１０，１１１，１１２，１１３…比較器、２０
０…切換装置、２０１…縮退指令器。 FIG. 1 is an explanatory diagram of a servo system function degeneration device as an embodiment of the present invention, and FIG. 2 is an explanatory diagram of a conventional example. In the drawings, 100...input setting device, 101...robot and drive device, 102...reference model device, 10
3...Adaptive control mechanism, 104...Position gain adjustment mechanism, 105...Speed feedback gain adjustment mechanism,
110, 111, 112, 113... Comparator, 20
0...Switching device, 201...Degeneration command device.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 位置または速度または力を目標値とする適応制
御機構及び参照モデル装置を有するロボツトのサ
ーボ系において、速度検出器の故障時にロボツト
の速度信号の代わりに、参照モデル装置から出力
されるモデル応答の速度信号を使用する手段を有
することを特徴とするロボツトの機能縮退装置。 In a robot servo system that has an adaptive control mechanism and reference model device that uses position, velocity, or force as a target value, when the speed detector fails, the speed of the model response output from the reference model device instead of the robot speed signal. A robot function degeneration device characterized by having means for using signals.
JP1988015234U 1988-02-09 1988-02-09 Robot degeneration device Expired - Lifetime JPH082725Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1988015234U JPH082725Y2 (en) 1988-02-09 1988-02-09 Robot degeneration device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1988015234U JPH082725Y2 (en) 1988-02-09 1988-02-09 Robot degeneration device

Publications (2)

Publication Number Publication Date
JPH01120202U true JPH01120202U (en) 1989-08-15
JPH082725Y2 JPH082725Y2 (en) 1996-01-29

Family

ID=31227108

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1988015234U Expired - Lifetime JPH082725Y2 (en) 1988-02-09 1988-02-09 Robot degeneration device

Country Status (1)

Country Link
JP (1) JPH082725Y2 (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62212710A (en) * 1986-03-14 1987-09-18 Agency Of Ind Science & Technol Movement controller for mobile robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62212710A (en) * 1986-03-14 1987-09-18 Agency Of Ind Science & Technol Movement controller for mobile robot

Also Published As

Publication number Publication date
JPH082725Y2 (en) 1996-01-29

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