Digital robot control having an improved current sensing system for power amplifiers in a digital robot control
US4902944A · kind A · utility
10Cited by
22References
13Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 4, 1988 |
| Grant date | Feb 20, 1990 |
| Priority date | — |
| Expiry date | Apr 4, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.