Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-03-29
1992-10-13
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856810, 31856813, 364513, 901 15, 901 24, 901 28, G05B 1302
Patent
active
051554232
ABSTRACT:
A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
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Bockhold John
Damico David
Karlen James P.
Kowalski Keith A.
Thompson, Jr. Jack M.
Ip Paul
Robotics Research Corporation
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