Digital robot control having pulse width modulator operable with reduced noise
US4980838A · kind A · utility
17Cited by
4References
8Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 31, 1989 |
| Grant date | Dec 25, 1990 |
| Priority date | — |
| Expiry date | Jan 31, 2009 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02P7/04
- WIPO fieldElectrical machinery, apparatus, energy
- WIPO sectorElectrical engineering
Abstract
A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.