Multiprocessor torque servo control for multiaxis digital robot control system
US4864204A · kind A · utility
19Cited by
22References
10Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 6, 1988 |
| Grant date | Sep 5, 1989 |
| Priority date | — |
| Expiry date | Apr 6, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42256
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.