Control circuit for a robot power supply
US6522096B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Feb 28, 2000 |
| Grant date | Feb 18, 2003 |
| Priority date | — |
| Expiry date | Feb 28, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/042
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A mechanism controller for controlling power to motors of a mechanism having several motors, such as a robot. Each motor has a resolver for indicating the motor position. A driver unit is associated with each motor to supply power to the motor. Each driver unit includes a monitoring unit to monitor indications from the resolver of the associated motor. In one embodiment a control unit is connected to the driver units in a series circuit to control power to the motors and to receive the monitored indications from the monitoring units. In a second embodiment, the control unit is connected to the driver units in a ring circuit, rather than in a series circuit. Preferably, each driver unit also includes a memory device, and the control unit can send commands to the driver units and receive data from the driver units in sets equal in number to the number of driver units so that the commands and data do not need to include the addresses of the specific driver units. Alternatively, the commands and data can include a driver unit address so that the commands and data can be individually sent, rather than sent in sets.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.