发明名称 |
Robot with micro processor-based digital robot control. |
摘要 |
<p>A digital robot control [Figures 3 and 5] is provided with cascaded position/velocity [Figure 10] and torque [Figure 6] control loops with microprocessor servo controllers in each. Each servo controller includes two microprocessors (202, 204) that operate as a servo engine in providing motion control for six robot axes [Figure 1, 21-26]. One microprocessor (202) is structured to perform data processing and coordination tasks. The other one (204) performs calculation tasks and operates as a slave processor to the first. Also included as part of the robot control is a digital position and velocity feedback system [Figure 13, 810, 812] for multiaxis robot control which employs a circuit [Figure 14, 813] to process robot motor encoder incremental position signals for position change and velocity computations. At low speeds, velocity is computed [Figure 17, 848] from the reciprocal of elapsed time. At higher speeds, velocity is computed (850) from the rate at which incremental position signals are generated.</p> |
申请公布号 |
EP0269372(A2) |
申请公布日期 |
1988.06.01 |
申请号 |
EP19870310242 |
申请日期 |
1987.11.19 |
申请人 |
UNIMATION INC. |
发明人 |
LANCRAFT, ROY EDWIN;DAGGETT, KENNETH EDWARD;ONAGA, EIMEI MIND;CASLER, RICHARD JAMES, JR.;BOOTH, BARRETT LAWRENCE;BERGMAN, NORMAN JOSEPH;MUNCY, MARCUS DAVID |
分类号 |
B25J9/18;G05B19/414 |
主分类号 |
B25J9/18 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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