Control and force-sensing method and apparatus for motors

Details Control and force-sensing method and apparatus for motors Control and force-sensing method and apparatus for motors

1985-05-01

1986-12-23

Ruggiero, Joseph

Boots, shoes, and leggings

318685, 318696, 364174, 364400, G06F 1546, G05B 1940

Patent

active

046316574

ABSTRACT:
A method and apparatus for controlling a stepper motor and for force sensing and force control. Stepper motor drive waveforms are provided which are constructed of a sequence of stairsteps, the size and duration thereof being determined as a function of the desired rotational velocity of the stepper motor. Means and a method for accelerating the stepper motor by varying the step size and step duration of the stairsteps in the drive waveform are discussed. Additionally, means and a method are discussed for sensing and controlling the force applied by the stepper motor to a load by way of evaluating the displacement of the actual position of the stepper motor shaft from the commanded or desired position of the shaft. Means and a method for implementing a compliant function in a similar manner are described.

REFERENCES:
patent: 3909693 (1975-09-01), Yoshitake et al.
patent: 4087732 (1978-05-01), Pritchard
patent: 4156170 (1979-05-01), Strunc
patent: 4377847 (1983-03-01), Daniel et al.

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