Multiaxis robot controller having workpoint torque control
US5144211A · kind A · utility
27Cited by
2References
4Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 31, 1989 |
| Grant date | Sep 1, 1992 |
| Priority date | — |
| Expiry date | Jan 31, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/237
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Workpoint torque control is employed in an electron multiaxis robot controller. Robot axis torque is determined from axis motor current feedback. Axis torque requests are based on torque command and torque feedback in an axis torque control mode or on the basis of position, velocity and torque commands and position, velocity and torque feedback in a combined position/torque control mode, or an indirect torque control mode.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.