Abstract: An electronic detent apparatus and method for simulating a mechanical detent comprises a sensor connected to a microprocessor. A servo-motor is connected to the microprocessor and has a motor drive connected to a clutch. The clutch may engage a wheel disposed upon a rail or surface to effect the simulation of a mechanical detent through the microprocessor controlled servo-motor. The method for simulating a mechanical detent comprises the steps of moving an axis and monitoring the position and velocity of the axis. The position and velocity of the axis is then compared to a pre-specified position threshold value and a pre-specified velocity threshold value using a microprocessor disposed on the axis. A servo-motor is activated to accelerate the axis to a pre-specified position using a clutch controlled by the servo-motor when the position and velocity of the axis exceed the pre-specified position and velocity threshold values.

Abstract: A multi-tasking system in which tasks are grouped and the action of the safety function is different for each group so that the control of a machine can safely and easily be performed with one control device and that the monitoring of each device can be performed at all times, and a medium and a processing device in which a program thereof is recorded. A multi-tasking system 100 for controlling a plurality of tasks has a program executing unit 11 for processing a plurality of tasks by the multi-tasking processing and a task table 21 for keeping grouping information set for each of the plurality of tasks, and the program executing unit 11 has stop units (an emergency stop unit 16, a temporary stop unit 17 as the safety function, and the stop unit obtains grouping information from the task table 21 on the basis of a stop instruction and identifies a group of each task, and performs a different control for each group.

Abstract: When a system is activated, a host computer reads modules from an external nonvolatile memory, reconstructs control software for a machine in accordance with a system configuration information storage file, and transfers the control software to a volatile memory of each numerical control device. Various types of modules are stored collectively in the external nonvolatile memory without duplication. In updating the control software, it is necessary only that data be updated for the software modules in the external nonvolatile memory alone.

Abstract: An industrial robot not malfunctioning if wiring to the safety device is connected after installation is presented. The robot makes an operator pay attention to that the safety device is set in cancel mode, and is hence safer. In the robot, all input connectors of the safety device wired from the outside are identical connectors. The connector has a terminal for feeding a status aside from a terminal for connecting to the safety device. Depending on status input from the outside, a warning sign is displayed on a display device. The warning sign is displayed only when a controller is operated.

Abstract: A robotic library design for a mechanism that picks and places storage cartridges having a robotic shuttle assembly that moves parallel to the storage cartridges, a moveable stage that moves perpendicular to the storage cartridges, and a pair of gripping finger to retain, extract, and deposit the storage cartridges within the library subsystem. The pair of gripping fingers, initially biased in a closed position, are cammed open by the edges of the storage cartridge upon the moveable stage's approach and close upon engagement with the storage cartridge's notched recesses. The storage cartridge is moved within the library subsystem and is delivered to its destination when a solenoid activates a mechanical trigger that releases the pair of gripping fingers. The moveable stage completes the storage cartridge's delivery and resets for its next instruction.

Abstract: A synchronous control device according to the present invention completes an origin matching between a master section and a slave section without causing a phase difference even when a deceleration device is employed in the master section or in the slave section so as to perform an accurate synchronous control. The synchronous control device constantly detects the phase of a shaft of a master electric motor by a phase detector of the master electric motor according to the outputs of a master rotary encoder, and the phase of a shaft of the master machine by a phase detector of the shaft of the master machine according to the outputs of a master rotary encoder and an origin detector of the shaft of the master machine.

Abstract: A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.

Abstract: A method and apparatus for determining the position of a rotor of a motor in a power window system is disclosed. The current applied to the motor is measured with respect to time so that the counter electromotive force resulting from rotor inertia may be calculated by the control system of the power window system using a motor equation solved for the counter electromotive force. The time at which the sign of the counter electromotive force changes corresponds to the time at which the rotor has changed direction so that the position of the rotor may be determined with a higher precision.

Abstract: A numerical control apparatus for the numerical control of a roll grinding machine comprises a flaw detecting means for scanning the entire surface of a roll (11), provided with an ultrasonic detecting head (23) for detecting flaws formed in the surface of the roll (11), a command generating means for generating cross-feed commands to repair detected flaws on the basis of flaw information about the positions and levels of the detected flaws, a control means for executing a first shaft position control operation on the basis of the cross-feed command to position the grinding wheel at a position with respect to a Z-axis corresponding to the position of the flaw by moving the wheel spindle stock in parallel to the axis of the roll and a second shaft positioning control operation to cross-feed the grinding wheel in parallel to an X-axis, and a decision means for deciding whether or not the flaw has been completely repaired and invoking the next cross-feed command if the flaw has been completely repaired.

Abstract: The present invention provides a numerical control apparatus for a machine tool, which corrects an axial displacement of a main spindle caused due to a change in preload level and occurring according to the rotation speed of the main spindle. The numerical control apparatus (3) comprises: a numerical control section (6) for numerically controlling the movement of a spindle head (2) and for outputting a rotation command; a spindle control section (7) for controlling the rotation of a main spindle (5); a preload change control section (8) for changing the level of a preload applied to bearings (36,37); and a correcting section (9) for outputting correction data for correction of an axial displacement of the main spindle (5) caused due to a change in the preload level and occurring according to the rotation speed of the main spindle (5) to the numerical control section (6) on the basis of the rotation command.

Abstract: An apparatus for the control of a machine tool includes, for the processing of a workpiece, several separate processing units that can execute definite tasks simultaneously and independently of one another. Furthermore, a display unit, as well as at least one assigned input unit, is provided. On the display unit side at least one display window, which can be activated selectively and in which corresponding information can be presented visually, is assigned to each processing unit. The display window active at the moment is thus shown uncovered and/or marked for emphasis.

Abstract: Method and apparatus for evaluating programming used by a programmable processor device in a disc drive to carry out servo control of a head with respect to a rotatable disc. The programming is first generated as a series of instructions executable by the programmable processor device. Processor emulation software is used to simulate execution of the instructions in a computer. A dynamic model of electrical and mechanical portions of the disc drive is generated using plant simulation software. A dynamic linking program is configured to synchronize and transfer data between the processor emulation software and the plant simulation software. All three programs are thereafter simultaneously executed in the computer to evaluate realtime operation of the programming.

Abstract: A scanner motor acceleration method that uses a software driver and a flexible process method to enable a scanner to perform fast scanning operation without increasing motor cost or complex hardware design. Motor acceleration and deceleration may be done through software control on existing scanner hardware which do not support acceleration and deceleration function. Through positioning and speeding mechanisms of existing scanner hardware, and software which may be changed flexibly, scanner positioning function may be accurately performed without deviations.

Abstract: The load torque applied to the shaft of a synchronous motor is estimated based upon a correlation established between load torque and a calculated integral of a drive current value, utilizing the measured current that is applied to drive the motor. The estimated load torque is used as the basis for controlling the driving current amplitude so as to achieve increased efficiency of energy utilization. Control apparatus embodies the technique, and a synchronous motor system includes such apparatus.

Abstract: A servo system controller which has a sequence controlling section 2 and a servo controlling section 3, employs not only a current position of a servo motor but also other servo control data or a sequencer device as comparison data, and executes a comparing process for compares whether or not respective comparison data are in respective detection ranges to then output respective comparison results, increase and variation of a response time can be prevented until the comparison results are output from the change of the comparison data. A comparing process table memory 14 is provided in the servo controlling section 3, and the comparing process is executed in synchronism with a calculation period of the servo controlling section 3, and a detection signal is output while the comparison data is within a detection range. In a machining apparatus utilizing the servo system controller, a tact time can be reduced without large increase of a cost.

Abstract: A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period.

Abstract: A circuit (41) to provide drive voltages to a voice coil motor (VCM) (50) of a hard disk drive (10) has identical high and low side drivers (42, 44, 46, and 48) connected to the VCM (50). Each driver has an output FET (52) selectively connecting the VCM (50) to a control voltage (58). A Class-AB output pair (54 and 54′) in parallel with the output FETs (52 and 52′) provides continuous and linear Class-AB operation at the output node (60) around the crossover point, while the output FETs (52 and 52′) are kept not conducting. This approach offers extremely low level of crossover harmonic distortion. Each FET of the Class-AB pair (54 and 54′) is connected to a biasing FET (56 and 56′) to provide the desired Class-AB quiescent current. Preferably the output FET (52), quiescent current controlling FET (54), and biasing FET (56) are fully integrated.

Abstract: An electronically commutated motor assembly permits a user to select discrete operating speed options to operate an electronically commutated motor. The assembly includes a motor, an input/output unit electrically connected to the motor, a connector and board and a microprocessor. The connector and board includes an electrically erasable programmable read-only memory (EEPROM), a plurality of low voltage signal connections for programming the EEPROM, and a plurality of speed signal connections for selecting an operating speed for the electronically commutated motor. The low voltage signal connections permit the EEPROM to be programmed with speed tables containing schedules of operating speeds.

Abstract: A material handling system for lifting a load and a method sensing an unstable state of the material handling system. The system includes a motor, a brake and a drive. The method includes storing a model of the motor in the drive and generating a signal in the drive. The signal has a voltage and a frequency. The method further includes providing the signal to the motor, sensing a current value of the signal, determining a modeled value based in part on the sensed current value, comparing an actual value to the modeled value to determine whether the load is stable, and generating an output that sets the brake when the load is potentially unstable.

Abstract: A general type press system with variable-speed slider-crank mechanism driven by a servomotor which can be used for various types of press work by providing various corresponding input speed trajectories. The press includes a frame, a linkage-mechanism with a crank as its input and a slider as its output, and a servomotor. The servomotor is used for driving the crank of the linkage-mechanism. The output motion of the press, i.e., the ram's motion, is accomplished by the slider of the mechanism. The speed of the servomotor is controlled by a micro-computer or a personal computer equipped with a digital signal processor (DSP). This computer supports a number of speed functions for different types of press work to obtain optimal processing results. Because the existing traditional linkage press can also be upgraded to a multi-purpose press, the disclosed press is an innovative design with the advantages of flexibility and practicability.

Abstract: A position encoder and a method for estimating absolute position using two or more diffractive grating tracks of differing periods to generate interference fringe patterns on a multi-track sensor. Detectors, corresponding to the diffractive grating tracks, detect the interference fringes. A first processing circuitry coupled to the detectors extract phase signals from the signals from the detectors. A second processing circuitry then estimates the cycle counts of the track signals based on the phase signals from the first processing circuitry. The absolute position is estimated by combining the cycle count, the fractional fringe value, and the grating period.

Abstract: A C-axis driving system for machine tools is disclosed that comprises a worm wheel mounted on a spindle that is rotatably supported by a headstock. The C-axis driving system also includes a worm shaft with a worm formed therein directed perpendicular to an axis of the spindle and placed so as to be pivotable about a pivotal shaft between an engagement position, and a disengagement position. The C-axis driving system also includes a C-axis driving motor connected to the worm shaft and serving to rotationally index the spindle to a specified rotational angle. The pivotal shaft is provided on the worm shaft base so as to be directed perpendicular to an axis of the worm shaft. Thus, the C-axis driving system for machine tools is capable of reducing the size of the C-axis unit as well as the cost while allowing a smooth engagement with the worm wheel.

Abstract: Device and method for controlling a drain motor, in which a drain valve is driven with reference to a position of drain valve, for optimal control of the drain motor, the device including a drain motor cam connected to a shaft of the drain motor having a detecting point for detecting a bottom dead center of a drain valve marked on one region of a circumference thereof, a switching unit for detecting a position of detecting point of the drain motor cam when the drain motor cam is rotated to provide a position detecting signal, and a microcomputer for receiving the position detecting signal from the switching unit, to identify a position of the drain valve, and controlling operation of the drain motor according to a result of the identification.

Abstract: A history of function values of a spindle rotation frequency in each time period from present to past is stored in a data table 22D and corrective coefficients are stored in advance in a corrective coefficient table 22C relating the coefficients to the location in the data table 22D. Each location and corrective coefficient are read out from the corrective coefficient table 22C and the function value of the spindle rotation frequency corresponding to the location is read out from the data table 22D. The compensation value is calculated from the total sum of each product of the function value and the corrective coefficient in each location and compensate the NC command position with the compensation value.

Abstract: An automobile control system including at least one actuation device having a housing and control circuitry coupled to the housing, where the control circuitry and the housing create a unitary device.

Abstract: Parameters of a robot is displayed on a display device of an operation terminal in a manner that parameters having been changed and parameters having not been changed of all the parameters are displayed in a distinguished manner such that the background color of the parameters having been changed differs from that of other data.

Abstract: With a memory access control portion without being intermediated by control of a CPU controlling an entire drive control of a motor, velocity data for setting velocity of a motor step by step are read out from a velocity table memory, and data value read out from the velocity table are converted by a time conversion circuit to time data, and based hereon a phase switching signal to operate the motor is generated in a phase signal generating portion. In addition, outputting of next data is requested to a memory access control portion in every time data output of a time conversion apparatus and occurrence of access to a next memory table is urged.

Abstract: It is assumed that an element to be detected 2a in a position sensor is mounted on a rotary shaft with the center O′ of the element to be detected eccentric from a center of rotation O by a distance d. When the rotary shaft is rotated at a fixed speed, the positions at angles 0° and 180° are accurately detected by a sensor 2b, while the positions at angles 90° and 270°, the sensor detects the positions P1′ and P3′, instead of P1 and P3 which are originally to be detected, resulting in undulation of detected positions as shown in FIG. 3(b). The peak value of the unduration and an angle of rotation at which the peak value is found are determined.

Abstract: An industrial robot not malfunctioning if wiring to the safety device is connected after installation is presented. The robot makes an operator pay attention to that the safety device is set in cancel mode, and is hence safer. In the robot, all input connectors of the safety device wired from the outside are identical connectors. The connector has a terminal for feeding a status aside from a terminal for connecting to the safety device. Depending on status input from the outside, a warning sign is displayed on a display device. The warning sign is displayed only when a controller is operated.

Abstract: A power steering system and induction motor load compensation algorithm or processing method for use in a vehicle. The power steering system comprises a power supply, a power steering motor, a steering subsystem, and a power steering controller coupled to the power supply. The controller processes a frequency command input corresponding to the power steering frequency requested by the steering subsystem and data contained in one or more software lookup tables to adjust the output frequency produced by the power supply to control the speed of the power steering, motor. The lookup tables are generated empirically and characterize the output power of the power supply at different system pressures over a range of motor speeds. The software lookup tables provide a power band that implements a power limiting state machine.

Abstract: A method and apparatus in an automated data storage library for identifying a location of a robot in the automated data storage library. Signals are transmitted from a set of transmitters in the automated data storage library, wherein a location of the set of transmitters is known. The signals transmitted from the set of transmitters are received at a receiver located on the robot to form a set of received signals. The location of the robot is determined using the set of received signals and the location of the set of transmitters.

Abstract: A DC motor drive circuit includes a switching circuit that drives the coils of a small permanent magnetic DC motor. The drive circuit is preferably implemented in an integrated circuit device, such as a silicon CMOS device. Integrated into the same integrated circuit device is a magnetic sensor arranged to detect the position of the permanent magnet as it passes a defined point, or points, in its revolution, and control circuitry to derive the timing waveforms for driving the coils. The integrated power devices for driving the coils are also arranged to limit the rise and fall times of the applied voltages and currents so as to reduce or eliminate the generation of unwanted RFI. Additional circuitry is also integrated into the same integrated circuit device to derive the necessary power to operate the magnetic sensor, the control circuitry and the switching circuitry from the connections between the switching circuitry and the coils so as to remove the need for a separate power supply connection.

Abstract: A substrate handling system comprises a robot containing mico-environment in communication with a plurality of processing stations. The robot has a robot arm comprising an end effector linkage mounted to an extensible linkage. Each of the linkages is independently actuatable using an associated motor, with the extensible linkage serving to convey the end effector linkage to the vicinity of a target processing station for delivery or retrieval of a substrate. Motion of the linkages may be synchronized to reduce travel time, and multiple end effectors may be mounted to the extensible linkage for increasing throughput.

Abstract: A numerical control apparatus for the numerical control of a roll grinding machine comprises a flaw detecting means for scanning the entire surface of a roll (11), provided with an ultrasonic detecting head (23) for detecting flaws formed in the surface of the roll (11), a command generating means for generating cross-feed commands to repair detected flaws on the basis of flaw information about the positions and levels of the detected flaws, a control means for executing a first shaft position control operation on the basis of the cross-feed command to position the grinding wheel at a position with respect to a Z-axis corresponding to the position of the flaw by moving the wheel spindle stock in parallel to the axis of the roll and a second shaft positioning control operation to cross-feed the grinding wheel in parallel to an X-axis, and a decision means for deciding whether or not the flaw has been completely repaired and invoking the next cross-feed command if the flaw has been completely repaired.

Abstract: A method and an apparatus for controlling a numerically controlled machine tool, wherein the heat generation amount and the temperature of a drive unit including a servo amplifier 15b and a feed shaft motor 3 are computed by a drive unit heat generation amount computing unit 31 by simulation, and from the computed heat generation amount and the computed temperature, the total heat generation amount of the drive unit, the cutting feed heat generation amount, the cutting load heat generation amount, etc. are computed by a feed heat generation amount computing unit 39, so that the cutting feed rate override value of the numerically controlled machine tool 1 is computed by a cutting feed rate override computing unit 27 and effectuated by being output to a NC unit. Further, based on the temperature of the drive unit computed by a computing unit 31 or the temperature computed by a temperature data computing unit 47 or the temperature detected by a temperature detection sensor 49, etc.

Abstract: A robot performing a variety of actions is disclosed.

Abstract: There is provided a speed and position signal generator which operates irrespective of mechanical error, and also operates without any delay of signal transmission. The speed and position signal generator generates A, B phase pulse signals corresponding to a frequency set value and direction setting, and outputs these two phase pulse signals and a Z phase pulse signal corresponding to a teeth number set value, and includes a reference clock generator as a reference, a frequency arithmetic operation circuit, a frequency division circuit for frequency dividing an output phase train from the frequency arithmetic operation circuit, an A, B phase generation circuit for generating A, B phase pulse signals using the frequency division signal, and a Z phase generator circuit for generating a Z phase pulse signal.

Abstract: A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries.

Abstract: A computationally efficient method for calculating near-optimal solutions to the three-objective, linear control allocation problem is disclosed. The control allocation problem is that of distributing the effort of redundant control effectors to achieve some desired set of objectives. The problem is deemed linear if control effectiveness is affine with respect to the individual control effectors. The optimal solution is that which exploits the collective maximum capability of the effectors within their individual physical limits. Computational efficiency is measured by the number of floating-point operations required for solution. The method presented returned optimal solutions in more than 90% of the cases examined; non-optimal solutions returned by the method were typically much less than 1% different from optimal and the errors tended to become smaller than 0.01% as the number of controls was increased.

Abstract: A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.

Abstract: An object of the present invention is realizing a highly accurate synchronous control device which does not cause time lag by detecting the rotational frequency and phase simultaneously perpetually by same signal in the synchronous control of plural electric motors. The synchronous control device synchronizes accurately rotational frequency and rotation phase of an electric motor or a machine axis driven by the electric motor. A master section outputs phase signals or frequency signals based on rotational frequency reference.

Abstract: A step-motor-driving device includes (a) a step-motor having driving-windings in plurality of phases, (b) an exciter for supplying power to excite driving-windings, (c) a position detector for detecting a position of a mover of the motor and outputs a position-detecting-signal, and (d) an excitation-timing-controller for receiving a driving-instruction-signal and a position-detecting-signal, and outputs an exciting signal to the exciter responsive to an input of one of the driving-instruction-signal and the position-detecting-signal.

Abstract: A method for the control of a multi-axis machine tool, in particular for the regulation of the position of the individual axes as a function of at least one other axis or external parameters. The method includes providing a coupling function for each axis so that the coupling function can be programmed by the operator of the machine tool and activating the coupling function only after all axes involved in the coupling have been referenced.

Abstract: A method and apparatus for automatically calibrating the precise positioning of a wafer handling robot relative to a target structure is disclosed. The apparatus comprises a machine controller connected to robot having an end-effector with three degrees of movement. The controller has a memory with stored rough distance and geometrical data defining the general location of structural features of the target structure. The robot is programmed to move toward the target structure in a series of sequential movements, each movement culminating with the robot end-effector touching a preselected exterior feature of the target structure. Each touching of the end-effector is sensed and provides data for the controller which then calculates the precise location of the target structure. The data accumulated during a series of touching steps by the robot end-effector is utilized by the controller to provide a precise calibrated control program for future operation of the robot.

Abstract: A servo control apparatus for performing a feedback control to an analog controlled system, includes an error generating device that generates a digital error corresponding to a difference between a desired value and a feedback value corresponding to a controlled variable of the analog controlled system, a control device that generates a digital manipulated variable, and a digital-to-analog converting device that converts the digital manipulated variable into an analog manipulated variable for driving the analog controlled system. The control device includes a disturbance estimating device that estimates a disturbance applied to the analog controlled system by carrying out a digital estimating process by using the digital manipulated variable and the digital error and generates a digital compensated variable corresponding to the estimated disturbance, and a manipulated variable generating device that generates the digital manipulated variable by using the digital error and the digital compensated variable.

Abstract: The invention provides a robot remote control system by which a robot apparatus can be remotely controlled if it is placed anywhere at least in Japan, wherein the robot remote control system comprises a remote control apparatus (1) for remotely controlling a robot and a robot apparatus (2) controlled on the basis of data from the remote control apparatus, and the remote control apparatus has a first computer for generating control data of the robot apparatus, and a first mobile transmission device for transmitting control data to a base station connected to a public communications network while the robot apparatus has a second mobile transmission device for receiving the control data transmitted from the base station connected to a public communications network, and the second computer for controlling the robot mechanism by processing the control data.

Abstract: A movable barrier operator having improved safety and energy efficiency features automatically detects line voltage frequency and uses that information to set a worklight shut-off time. The operator automatically detects the type of door (single panel or segmented) and uses that information to set a maximum speed of door travel. The operator moves the door with a linearly variable speed from start of travel to stop for smooth and quiet performance. The operator provides for full door closure by driving the door into the floor when the DOWN limit is reached and no auto-reverse condition has been detected. The operator provides for user selection of a minimum stop speed for easy starting and stopping of sticky or binding doors.

Abstract: A method for the direct teaching of automatic machinery systems, comprising a plurality of arms and of corresponding actuators for equilibrating the arms against payloads and displacing them to operative positions, when desired, which comprises the steps of: (a) placing the system in a reference configuration, equilibrating its arms, and memorizing for each arm the reference torque to be produced by the corresponding motor to maintain the arm in its reference position; (b) when it is wished to carry out the teaching, placing the system in the Teach mode; (c) applying an external force to an arm of the system in the direction desired for the purpose of the teaching; (d) for each arm, determining the actual torque required to maintain the arm in its reference position in spite of the application of said operator force; (e) calculating a displacement torque as the difference between said reference and said actual torque; (f) causing the motor to displace the arm in the direction of said displacement torque and b

Abstract: A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo.