Direct drive motor system
US4843292A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Feb 25, 1999 |
| Grant date | Jun 27, 1989 |
| Priority date | — |
| Expiry date | Feb 25, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42256
- WIPO fieldElectrical machinery, apparatus, energy
- WIPO sectorElectrical engineering
Abstract
A direct drive motor system for controlling driving of the joints of a multi-jointed robot, comprising a motor portion, a rotation detecting portion, a position control portion, a speed control portion, a driving circuit and a tuning portion, wherein the motor portion is of an inductor type, the rotation detection portion uses an optical rotary encoder or magnetic resolver, and the position control portion is arranged to control in a feedback manner the rotational position of the motor with a tertiary servo system with software. The system's driving circuit has a feedback control loop for the current of the motor coil, and a detection circuit for the current includes a small signal isolator. The tuning portion tunes the servo systems of the speed control portion and the position control portion. As a result, the system simultaneously satisfies various requirements of such a direct drive motor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.