Robot control apparatus for controlling a manipulator through a robot arm having a plurality of axes
US4873476A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 23, 1987 |
| Grant date | Oct 10, 1989 |
| Priority date | — |
| Expiry date | Sep 23, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41426
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot control apparatus has servo CPUs (c.sub.1, c.sub.2) provided in control loops of respective servomotors (e.sub.1, e.sub.2) for driving and controlling loads about plural drive axes (.theta..sub.1, .theta..sub.2) of a robot arm. Since these servo CPUs execute drive torque calculations necessary for servomotor control, the cost of the control apparatus can be reduced. Also provided is a shared RAM (b) capable of being accessed commonly by the servo CPUs. Information about other axes stored in the RAM is read out and, when current loop processing is not being carried out, non-linear torque calculations necessary for servo-control are performed. As a result, current loop processing is not impeded and servomotor control can be carried out in a highly precise manner.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.