4363373 Vacuum control apparatus

177

New Patents

4363373 VACUUM CONTROL APPARATUS Ronald H Haugeberg

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Vacuum control apparatus for a vehicle having a speed control unit including a first vacuum line from the engine of the vehicle to the control unit and a second vacuum line from the control unit to a throttle servo of the engine, the vacuum control apparatus including vacuum measuring mechanism associated with the first vacuum line from the vehicle engine to the speed control unit, a supply of air to the second vacuum line from the speed control unit to the throttle servo, mechanism for selectively metering air into the second vacuum line, whereby sufficient air can be metered into the second vacuum line when the vacuum created by the engine decreases to prevent the speed control unit from opening the throttle excessively.

in improved dynamic performance and control of a manipulator arm over a wide range of arm loads, dynamic operating parameters of the arm, and over the full range of arm operating positions. The control system for one or more of the controlled axes includes several servo control loops utilizing force or pressure feedback from the axis actuators and variable inertia scaling of selected loop command signals and loop parameters. The variable inertia scaling in accordance with the inertia of the arm provides improved dynamic performance of the manipulator arm while maintaining stable servo-loop operation over a wide range of operating parameters. In a preferred arrangement, the variable inertia scaling is accomplished by the use of a look up table with appropriate interpolation of the table entries. The look up table is stored in a circuit axis processor with the appropriate variable inertia scaling factors being determined by the axis processor for use by the respective axis servo-loop. The look up table in accordance with various predetermined operating requirements of the manipulator apparatus includes data entries representing inertia scaling factors according to the mass of the arm load, the commanded velocity in a particular axis, and the operating positions of one or more of the major control axes of the arm.

4362978 4362977

CONTROL SYSTEM FOR MANIPULATOR APPARATUS Brian Pollard; Willia Perzley; Stanley J Blanchard assigned to Unimation Inc r

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METHOD AND APPARATUS FOR CALIBRATING A ROBOT TO COMPENSATE FOR'INACCURACY OF THE ROBOT Roger C Evans; John E Griffith; David Grossman; Myron Kutcher; Peter M Will assigned to International Business Machines Corporation

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A control system is provided for a programmable manipulator having an arm movable in a plurality of axes that results

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