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

1982-09-29

1985-08-13

Ruggiero, Joseph

Boots, shoes, and leggings

318254, 318685, 318490, 324158MG, 364556, G05B 1940

Patent

active

045354057

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: 3719878 (1973-03-01), Ferguson et al.
patent: 4330739 (1982-05-01), Chiang
patent: 4362980 (1982-12-01), Itzkowitz
patent: 4422040 (1983-12-01), Raider et al.

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