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Software Servo Routine for Improving Robot Accuracy and Repeatability

IP.com Disclosure Number: IPCOM000040964D
Original Publication Date: 1987-Apr-01
Included in the Prior Art Database: 2005-Feb-02
Document File: 1 page(s) / 11K

Publishing Venue

IBM

Related People

Lee, CS: AUTHOR

Abstract

The servo routine for a robot arm shown in the flow chart compares a goal position vs. an actual position, then moves the robot arm toward the goal position by the iterative method. Each axis of the robot arm makes the micro-movements until the actual position converges to the goal position within a set tolerance window. The prompt convergence to the goal position can be insured by adjusting software servo gain. In essence, this servo routine compensates for the positional error caused by the friction/slop in the robot system, inertia of the moving robot arm and the variation of servo response of drive motors, by forcing the robot arm to move close to a command position within the allowable tolerance. (Image Omitted)

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Software Servo Routine for Improving Robot Accuracy and Repeatability

The servo routine for a robot arm shown in the flow chart compares a goal position vs. an actual position, then moves the robot arm toward the goal position by the iterative method. Each axis of the robot arm makes the micro-movements until the actual position converges to the goal position within a set tolerance window. The prompt convergence to the goal position can be insured by adjusting software servo gain. In essence, this servo routine compensates for the positional error caused by the friction/slop in the robot system, inertia of the moving robot arm and the variation of servo response of drive motors, by forcing the robot arm to move close to a command position within the allowable tolerance.

(Image Omitted)

Disclosed anonymously

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