Controller of multi-axis robot
US6069463A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 29, 1997 |
| Grant date | May 30, 2000 |
| Priority date | — |
| Expiry date | Sep 29, 2017 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41195
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A controller is provided for a multi-axis robot having at least first and second axis assemblies, the first and second axis assemblies each having an arm, a servomotor driven by a control input and a coupling in the form of a decelerator, which includes a spring element, coupling the servomotor and the arm, the second axis assembly being disposed at an end of the arm of the first axis assembly. The controller includes the first and second axis assemblies each including torsional angle detector for detecting a torsional angle of a respective one of the couplings. A dynamic coupling calculator calculates coupling parameters of the couplings. The first and second axis assemblies each include a semi-closed loop. A processor calculates first interaction forces and second interaction forces wherein the first interaction forces are forces generated on the arm of each of the first and second axis assemblies axis by another of the first and second axis assemblies, and the second interaction forces are generated by input, included in control inputs of the servomotors, from a respective one of the semi-closed loops due to the first interaction forces of the other of the first and second axis …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.