Patent ID: 6694214
Filing Date: 2004-02-17
Classification: G05B

Abstract:
Method for weight compensation in guiding a movement of a moveable machine element of an industrial processing machine having a predetermined set-point, the method capable of generating control variables for at least one actuator for controlling the machine element in a predetermined workspace, the method comprising:determining at a predetermined number of different operating points of the machine element in the workspace a first elastic change in a length of an actuator caused by a weight force in a static state on the respective actuator, determining at the predetermined number of operating points a second elastic change in a length, caused by the weight force at articulated joints and/or at additional components of the actuator having a fixed length, adding the first and second elastic changes at the predetermined number of operating points to form changes in the total length for the actuator, storing for each actuator the corresponding operating points and the determined changes in total length in a compensation table, and generating control input values for each actuator by using as compensation values the determined changes in total length stored in the compensation table by if a set-point is identical to one of the predetermined operating points, adding the compensation value corresponding to the set-point, or if a set-point is different from the predetermined operating points, adding a compensation value determined by interpolating the compensation values in the compensation table in an interval in which the respective operating point is located.