Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-01-31
1990-12-25
MacDonald, Allen R.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318599, 901 23, G05B 1942
Patent
active
049808389
ABSTRACT:
A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.
REFERENCES:
patent: 4581565 (1986-04-01), Van Pelt et al.
patent: 4600983 (1986-07-01), Petsch
patent: 4710686 (1987-12-01), Guzik
patent: 4786847 (1988-11-01), Daggett et al.
Casler, Jr. Richard J.
Daggett Kenneth E.
Johnson Richard A.
Onaga Eimei M.
Vercellotti Leonard C.
MacDonald Allen R.
Staubli International AG.
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