Modular robot control system
US4908556A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 1986 |
| Grant date | Mar 13, 1990 |
| Priority date | — |
| Expiry date | Nov 20, 2006 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A modular digital robot control includes an electronic arm interface board provided with circuitry for performing robot arm dependent functions. Included are circuitry for generating power amplifier control signals in response to input voltage command signals and circuitry for processing and manipulating position, velocity and motor current feedback signals. An electronic torque processor board is provided with paired torque microprocessors for operating each of respective torque control loops for respective robot joint motors. The torque microprocessors generate the voltage commands in response to input torque commands and feedback motor current signals. An electronic servo control board is provided with paired position/velocity microprocessors for operating position and velocity control loops for the respective joint motors. The position/velocity microprocessors generate the torque commands in response to input position commands and feedback position and velocity signals. The servo control board further includes system resource facilities providing general support for the operation of the microprocessors and includes a DMC controller and two asynchronous controllers for communica…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.