US PATENT SUBCLASS 318 / 568.17
.~.~.~.~ With multimode control (e.g., course-fine, position-force, etc.)

Current as of: June, 1999
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318 /   HD   ELECTRICITY: MOTIVE POWER SYSTEMS

560  DF  POSITIONAL SERVO SYSTEMS (E.G., SERVOMECHANISMS) {23}
567  DF  .~ Program- or pattern-controlled systems {3}
568.1  DF  .~.~ With program recording or composing means {1}
568.11  DF  .~.~.~ Multifunction manipulator (i.e., Robot) {9}
568.17.~.~.~.~ With multimode control (e.g., course-fine, position-force, etc.) {1}
568.18  DF  .~.~.~.~.~> Including velocity control

DEFINITION

Classification: 318/568.17

With multimode control (e.g., course-fine, position-force, etc.):

(under subclass 568.11) Subject matter in which more than one mode of control is provided.

(1) Note. Modes of control include: course positioning, fine positioning, velocity, acceleration, and force.

(2) Note. Inclusion of a compliance means on the robot is considered to constitute a position-force multimode control.