Multiaxis digital robot control having a backup velocity monitor and protection system
US4807153A · kind A · utility
32Cited by
8References
10Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 20, 1986 |
| Grant date | Feb 21, 1989 |
| Priority date | — |
| Expiry date | Nov 20, 2006 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. A backup velocity determination is made for each joint motor by the torque microprocessor from the motor current feedback, the motor command terminal voltage and the motor resistance and inductance. The robot is shut down if the difference between the feedback and backup velocity values exceeds a predetermined limit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.