Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

6 Chapter 1 Motor and Motion Control Systems
Figure 1-4 Block diagram of a
velocity-control system.
to the motion controller so that it can compute a corrective signal for the
amplifier to keep motor speed within those preset limits despite load
changes.
A position-control loop, as shown in block diagram Figure 1-5, typically
contains either an encoder or resolver capable of direct or indirect
measurements of load position. These sensors generate error signals that
are sent to the motion controller, which produces a corrective signal for
amplifier. The output of the amplifier causes the motor to speed up or
slow down to correct the position of the load. Most position control
closed-loop systems also include a velocity-control loop.
The ballscrew slide mechanism, shown in Figure 1-6, is an example of
a mechanical system that carries a load whose position must be controlled
in a closed-loop servosystem because it is not equipped with position sensors.
Three examples of feedback sensors mounted on the ballscrew
mechanism that can provide position feedback are shown in Figure 1-7:
(a) is a rotary optical encoder mounted on the motor housing with its shaft
coupled to the motor shaft; (b) is an optical linear encoder with its gradu-
Figure 1-5 Block diagram of a
position-control system.