A material transfer apparatus which includes a carriage whose movement is controlled along a path between specified locations thereon. The carriage includes means for dynamically indicating its present location on the path which is compared with a specified new location to provide a difference drive for moving the carriage as required.
A computer winding control and operator display for winding complex coils is programmed to control stepper motors connected to an arbor and a coil filament laying head. The computer program generates a series of commands to move the arbor and the head. The commands specify acceleration, velocity, extent of movement, and deceleration. The program at certain program steps stops the motion and generates operator display messages.
A rotary element (10) such as a robot arm is to be positioned by an actuating drive to a position determined by a desired value signal. An angle pick-off (20) provides an actual value signal. A first controller (36) provides a first controller output signal through an adaptive transfer element with limitation. The first controller output signal is applied to a first torque motor (18) the rotor of which is directly connected with the rotary element (10). A second controller (38) provides a second controller output signal, which is applied to a second torque motor (22). The second torque motor (22) is connected with the rotary element (10) through a step down system (26) and a resilient coupling member (30). A coupling path (40) with an integrator applies a trimming signal dependent on the input of the first torque motor (18) to the input of the second torque motor (22). The second torque motor (22) through the step down system (26) provides a coarse positioning under load, while the first torque motor (18) provides a fine positioning independent of friction and play of the step down system.
In a numerical control system for a machine tool using a general-purpose motor (11) in place of at least one of servo motors, a current position of a spindle (10) driven by the general-purpose motor (11) is detected (14, 9) and is compared with a position designated by a numerical control program. When the current position approaches the position designated by the numerical control program, brake signals (MBR, BR) are generated to brake the general-purpose motor (11) or the like, and a rotation signal (MCW, MCCW) of the general-purpose motor (11) is disabled, thereby stopping the general-purpose motor (11) so as to cause the spindle (10) to stop at the position designated by the numerical control program.
A method and an apparatus for producing rapid movement and smooth braking and a precisely defined final position of a movable robot arm. For moving the robot arm from a first operative position to a second operative position the robot arm is first driven by a rapidly rotating motor until it comes close to its second operative position, at which time a slowly rotating motor with an associated coupling takes over the drive and reduces the driving speed of the robot arm progressively. When the robot arm reaches its final position a brake is actuated so as to clamp said robot arm.
An analog/digital numerical control system that utilizes analog techniques to process large scale (macro) differences and digital techniques to process small scale (micro) differences. In this manner, advantage is taken of the respective virtues of both analog and digital processing techniques while avoiding the disadvantages associated with the exclusive use of either approach. In addition, a novel tach responsive braking generator is disclosed for particular use in controlling the positioning of high mass heads that is adapted to provide dynamic braking of the controlled machine assembly to accomplish proper positioning without "hunting".
