Abstract: Described is a novel technique and associated arrangement for determining the noise-free value of a system parameter (e.g., head position in a disk drive) which is time variable and (usually) has a noise component as detected. The technique involves processing the (as detected) noise-including value and passing it, plus a "Time-derivative version" thereof, through "Second Order/Summing" filter means.For instance, the technique is described as particularly useful with the "track-following servo" (part of the transducer positioning means) in a high density disk file (where track density is higher than usual) to secure superior head-displacement error values which are more noise-free. Thus, (see FIG. 4), a pair of first values V.sub.a, V.sub.b are secured by detecting motor current sense voltage V.sub.i, integrating it with respect to time and passing the result through a pair of novel "second order filter" means--one band-pass (F.sub.1), the other low-pass (F.sub.2); while also securing a third value V.sub.

Abstract: During demonstration of a job sequence by an operator, an image error signal generated by a camera raster, is fed into a register, where it corrects the actual raster position, which is then stored in a data store. A tachometer signal from a joint of a model of a robot arm being manipulated by the operator is subtracted from a corresponding tachometer signal on the robot arm and passed to a processor.The processor uses an iterative procedure to evaluate a set of constants from the tachometer signals from the model. The servo signals are subsequently used to enable the robot arm to repeat the job sequence.

Abstract: An electro-mechanical actuator has a ferrous alloy armature movably mounted within a body chamber. Two axially-spaced permanent magnets are arranged radially inwardly of the chamber and partially define the chamber at the ends thereof. A coil surrounds the chamber. The body is formed of a magnetically-permeable material. Because of the high reluctance of the magnets, each magnet forms a short magnetic loop which passes through the adjacent air gap, and forms a long magnetic loop which encircles the coil and passes through the distant air gap. The armature has a bistable toggle-like movement, and may be latched proximate either end wall. If springs are added between the armature and the body, the improved actuator may be used as a proportional position of force transducer within an operating range of armature movement.

Abstract: A device for determining and adjusting the position of a web, the device having two sensor units each with a respective light source element directed towards the web and a respective photoelectric sensor element responsive to reflected light, a control unit responsive to respective output signals of the two sensor units, and a device connected to the control unit and fed by an adjusting signal from the control unit for adjusting the position of the web, including reflectors disposed at a side of the web facing away from the sensor units and projecting beyond respective opposite edges of the web, one of the two elements of one of the sensor units being directed towards one of the opposite edges of the web and the other of the two elements of the one of the sensor units being directed to a reference surface, the other of the two elements of the other sensor unit being directed towards the other of the opposite edges of the web and the other of the two elements of the other sensor unit being also directed to a r

Abstract: In a disc information storage system which employs a servo data disc, a servo data head and a moveable carriage assembly for transporting a plurality of magnetic heads radially across the surface of the disc in response to a control signal produced in connection with a velocity command signal, an improved method and apparatus for production of a velocity command signal wherein one or a plurality of discrete velocity steps are added to the velocity command signal in a region which would otherwise indicate only a single value for velocity.

Abstract: In order to execute a series of moving sequences by synchronous and exclusive control of unit operations taught or programed in advance, there are provided a first storing of the relationship of the sequence of execution of each unit operation to other unit operations to be controlled synchronously or exclusively; a second storing of information relating to the operational status of each unit operation; and a third storing of operating instructions for executing each unit operation. When machine tools have stopped due to the occurrence of an abnormality while a series of unit operations are being executed by the operating instructions stored in the third storing means, a unit operation for restarting on the basis of the relationship of the executing sequence stored during the first storing is appointed, and information concerning the operational status stored during the second storing is corrected.

Abstract: A servo system 10 (FIG. 1) for positioning a sighting mirror 11 connected to a pulley 16 comprises a drive motor 13 rigidly connected to a drive pulley 15 in turn coupled by a tensioned drive belt to the pulley 16. Angular position of the motor or pulley 15 is measured by sensor 18 and passed by way of phase advance network 19 and amplifier 21 to produce an error signal for the drive motor. The pulley 16 is outside of the servo loop and any oscillations induced in the tensioned belt at its resonant frequency, possibly originating from electrical noise in the servo loop, will be uncontrollable.

Abstract: A servo system for controlling the rotational speed of a rotating body or the moving speed of a moving body to be a desired speed. The system comprises a voltage source which generates at least two predetermined voltages, a comparator which compares a voltage of an AC signal containing a speed information of the moving body with each of the voltages generated by the voltage source and outputs at least two output signals in each half period of the AC signal, a counter for counting reference clock signals, a memory for storing a count value of the counter when the comparator outputs each of the output signals, a processor for producing a speed error signal from the count value stored in the memory, and a driver for supplying a driving power to the moving body in accordance with the speed error signal thereby to keep a desired speed of the moving body. Further, an error compensator may be provided for compensating a voltage shift of the predetermined voltages.

Abstract: A method for evaluating echo signals transmitted and received by an ultrasonic transducer in a sensor of a movable mechanical element, such as an arm of an industrial robot, has the steps of receiving and storing the arriving echo signals in chronological sequence in a memory, the chronological sequence of the signal being converted into a corresponding sequence of memory positions, with successive sequences of echo signals of successive transmit pulses being stored in the same sequences of the memory positions. Integration of the echo signals of the successive sequences stored in the memory positions are undertaken such that the local shift of the ultrasonic transducer disposed on the moveable element which occurs between respective transmit pulses is compensated relative to chronologically adjacent pulses and the pulses reflected from a target are more easily identified.

Abstract: An inductive load 1, more specifically a direct current motor, is fed by a direct current source through a semiconductor regulator which contains two parallel switching controllable semiconductor rectifier elements with identical conduction direction which in turn are in series with a respective one-half of center tapped output autotransformer. Parallel to the semiconductor regulator is an additional and identical semiconductor regulator. The center tap points of both semiconductor regulator autotransformers are connected with the terminals of a third output autotransformer which is similarly center tapped, whereby the center tap point of the third output autotransformer is connected to a terminal (+) of the inductive load. The control assembly is made in such a manner that it produces clock frequency signals with identical control levels for both semiconductor rectifier elements; however, these signals for the two parallel switching arrangements are, electrically offset by 90 degrees.

Abstract: Predictive control of a controlled dynamic system having conventional feedback. The input predictor processes the assumed inputs to the controlled system to determine an error output or value corresponding to the outputs only at the prediction horizon interval. The error output is processed by scalar mathematical operations to adjust the assumed inputs and form actual inputs to the controlled system. This method of predicting the inputs can be accomplished in less time than required by previous systems, and the stability of the controlled system, particularly non-minimum phase systems, is improved.

Abstract: An electric machine which is adapted to function as a motor or generator without any major electrical or mechanical modifications and conforms to conventional electric machine manufacturing practices. This machine has associated therewith, microprocessor controls. There is provided two balanced phase synchronous electrical machines whose moving windings are attached to a common carrier and whose stationary windings are attached to a common body. One of the two balanced phase electric machines is electrically and mechanically designed to be a balanced phase synchronous power motor or power generator at the utility frequency while the other balanced phase electric machine is electrically and mechanically designed for a higher frequency. The high frequency electric machine is driven by a modulated high frequency signal whose modulation frequency is equal to the utility frequency.

Abstract: A non-linear function f(A) of an effective value D' with respect to a desired value A regarding speed, pressure or the like of an actuator of a hydraulic apparatus in a closed loop control for the hydraulic apparatus is operated and a value regarding quantity of electricity to be applied to a valve of a drive mechanism of the hydraulic apparatus is outputted as a non-linear function f(A) in a case where a non-linear function D=f(A) is established between the desired value A and an effective value D regarding speed, pressure or the like of the actuator in the opened loop control for the hydraulic apparatus.

Abstract: A plurality of coil sets are movably positioned in a plurality of magnetic fields which are arranged in a two-dimensional array. The magnetic fields periodically vary in strength and polarity along the two-dimensional array. The coil sets drive a loading table in the X and Y axes under the control of currents applied thereto.

Abstract: A numerical control system suited for application to a machine tool having an axis of rotation, such as a robot which employs a cylindrical coordinate system. For example, when the arm (3) of an industrial robot is rotated to transport a wrist (2), which is attached to the end of the arm (3), from a starting point (P.sub.1) to an end point (P.sub.2), the straight line (L.sub.n) interconnecting the starting point (P.sub.1) and the end point (P.sub.2) is divided into a plurality of intervals {Q.sub.i, Q.sub.(i+1), . . . }, positional data for each axis at each of the division points is generated, and linear interpolation for each of the intervals is performed by using the positional data for each axis to move the wrist (2) approximately along the straight line.

Abstract: A voltage supply for a servomotor (9) is effected via a wiper (10) which slides on two conductive paths (5, 6) which are displaceable in longitudinal direction. The conductive paths (5, 6) have, at their opposite ends, a driver (15, 17) against which the wiper (10) can come in its end positions upon further displacement, in order to be able to carry the corresponding conductive path (5, 6) along with it. Directly before the driver (15, 17) is reached, no voltage is tapped off from the corresponding conductive path (5, 6), so that the servomotor (9) then stops.

Abstract: The invention relates to an adaptive control tool holder for fixing to the end of the carrier of a robot, controlling the displacement of said end in accordance with a stored path.The tool holder defines a degree of freedom about an axis and a degree of translational freedom in a direction orthogonal to said axis. For a central translation reference position, the axis passes through the active center of the tool. A detection system rigidly fixed to the tool has preferably two detectors used for controlling the motors which control the two degrees of freedom, by means of independent feedback or control circuits. During the learning of the path prior to performing the task, the translation and the rotation are blocked in the reference position.

Abstract: A feedback potentiometer type servoactuator having a plastic housing shell with small high RPM low voltage motor and non-metallic gear reduction train for driving an output shaft. The shell and cover plate provide structural support for gear journalling and the cover plate has an electrically resistive plastic strip baked onto the inside of the cover. Contacts mounted on the output gear for movement therewith wipe the resistive strip to provide variable resistance for an output shaft position feedback signal. The motor pinion and first stage reduction gears are made of urethane thermoplastic elastomer, the second stage gears of acetal plastic and the final gears are formed of 30% glass fiber filled polyester plastic for providing quiet running and long gear life.

Abstract: When an unusual condition of a wheeled vehicle such as nose-diving caused by braking, squatting caused by an abrupt start or rolling caused by a turn is sensed, the damping force or the spring constant of each suspension unit, which serves as a shock absorbing unit, is temporarily increased to correct the position of the vehicle. The increased damping force or spring constant is maintained a predetermined period of time even after the unusual vehicle condition is settled, thereby preventing the vehicle body from tossing back due to the force of inertia.

Abstract: A power torque servo system (100) for roller swaging (122), including a servomotor (132) having a gear box (134) with a drive shaft (138). The motor is supported on two members (150, 152) on opposite sides of the drive shaft (138) and a third member (146) on which the motor may pivot. Strain gages (154, 156, 158, 160) are mounted on the members (150, 152) to measure servodrive reaction torque in the shaft when the shaft is rotated by the motor to function as a swage drive or in another torquing operation. There are switches (236) to set a final torque value to be obtained in the servo system and an electrical servo system for receiving the strain gage measurement signals to provide a smooth low speed approach to a final torque value (182) in the shaft (138) and to eliminate any dynamic torque overshoot in the shaft.