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    • 100. 发明专利
    • DE69213097D1
    • 1996-10-02
    • DE69213097
    • 1992-05-20
    • MITSUBISHI HEAVY IND LTDAGENCY IND SCIENCE TECHN
    • OKAZAKI YUICHIASANO SHINGOTO TAKAYUKI
    • B23Q15/22G05B19/39G05D3/12G05D3/14
    • A positioning control method and apparatus in which a fine movement mechanism can be always moved without exceeding a movable area so that positioning of a large amount of displacement can be attained with high accuracy and high-speed positioning from a point to a point can be attained with the same control method are disclosed. The positioning control apparatus including a coarse movement mechanism 101 having a large amount of movement and low positioning accuracy and a fine movement mechanism 102 having a small amount of movement and high positioning accuracy supplies to the fine movement mechanism 101 a signal E4 based on a difference signal C4 of a movement command signal A4 and a displacement signal B4 representative of a displacement of an object to be positioned with respect to a fixed position detected by absolute position detecting means 105 and supplies to the coarse movement mechanism 101 a coarse movement command signal M4 produced by adding a signal representative of a relative displacement of the fine movement mechanism 102 with respect to the coarse movement mechanism 101 detected by relative position detecting means 133 to the difference signal C4 to thereby control respective movements.