Secondary position feedback control of a robot

US8473103B2 · kind B2 · utility

Assignee

• FANUC ROBOTICS AMERICA CORPORATION · US

Inventors

• Jason Tsai · Bellevue, US
• Eric C. Wong · Wauwatosa, US
• Jianming Tao · Rochester Hills, US
• H. Dean McGee · Rochester Hills, US
• Hadi A. Akeel · Rochester Hills, US

Key dates

• Filing date: Jan 26, 2010
• Grant date: Jun 25, 2013
• Expiry date: Mar 23, 2031

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/37297
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.