Multiaxis robot control having improved continuous path operation
US4772831A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 1986 |
| Grant date | Sep 20, 1988 |
| Priority date | — |
| Expiry date | Nov 20, 2006 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42256
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital control for a robot having a plurality of arm joints includes an electric motor for driving each of the robot arm joints and a power amplifier operable to supply drive current to each motor. Pulse width modulators generate digital control signals for the power amplifiers. Feedback control loop means for each joint motor includes at least position, velocity and torque control loops operable to control the associated power amplifier. Motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes. A position/velocity microprocessor control executes a planning program to generate a time profile including acceleration, slew and deceleration time segments for implementing each commanded robot program move. It also executes a trajectory program to generate interpolated position commands for each of the feedback control loop means along the present path segment in accordance with a predefined type of path move and in accordance with the time profile applicable to the present path segment. Execution of a continuous path routine in the planning program provides for computation of coefficients for a stored polynomial eq…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.