Multiprocessor position/velocity servo control for multiaxis digital robot control system
US4868474A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 4, 1988 |
| Grant date | Sep 19, 1989 |
| Priority date | — |
| Expiry date | Apr 4, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42256
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.