Multiprocessor torque servo control for multiaxis digital robot

Details Multiprocessor torque servo control for multiaxis digital robot Multiprocessor torque servo control for multiaxis digital robot

1988-04-06

1989-09-05

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318575, 318567, 31856818, 364513, 901 20, 901 23, G06F 1546

Patent

active

048642045

ABSTRACT:
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.

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