System and method for adaptive cartridge engagement in an automated cartridge library
US6219313A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jan 19, 1999 |
| Grant date | Apr 17, 2001 |
| Priority date | — |
| Expiry date | Jan 19, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/4015
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system and method of adaptively engaging cartridges stored in an automated cartridge library are provided. Upon receiving a request to extend a reach mechanism of a robot arm to engage a cartridge stored in a selected cell, a library controller initiates a move profile to extend the reach mechanism from a starting position toward the cartridge. The move profile comprises a set of commanded positions and corresponding commanded velocities. A motor controller in communication with the library controller compares a sensed position of the reach mechanism, provided by a position feedback sensor associated with a reach motor, with the commanded position to determine a position error. The motor controller maintains the move profile until the position error exceeds an error threshold, indicating engagement of the cartridge by the reach mechanism. The move profile is then terminated to obtain a final position of the reach mechanism, where the final position reflects a specific depth of the selected cell from the robot arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.