Multiprocessor torque servo control for multiaxis digital robot control system
摘要
A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.
申请公布号
US4864204(A)
申请公布日期
1989.09.05
申请号
US19880180601
申请日期
1988.04.06
申请人
WESTINGHOUSE ELECTRIC CORP.
发明人
DAGGETT, KENNETH E.;ONAGA, EIMEI M.;CASLER, JR., RICHARD J.