Multiaxis digital robot control having a backup velocity monitor

Details Multiaxis digital robot control having a backup velocity monitor Multiaxis digital robot control having a backup velocity monitor

1986-11-20

1989-02-21

Ruggiero, Joseph

Boots, shoes, and leggings

318563, 318615, 364174, 364187, 901 9, 901 23, 901 20, G06F 1546, G05B 902

Patent

active

048071536

ABSTRACT:
A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. A backup velocity determination is made for each joint motor by the torque microprocessor from the motor current feedback, the motor command terminal voltage and the motor resistance and inductance. The robot is shut down if the difference between the feedback and backup velocity values exceeds a predetermined limit.

REFERENCES:
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patent: 4506321 (1985-03-01), Comstock et al.
patent: 4535405 (1985-08-01), Hill et al.
patent: 4598380 (1986-07-01), Holmes et al.
patent: 4603284 (1986-07-01), Perzley
patent: 4623971 (1986-11-01), Ailman et al.
patent: 4695941 (1987-09-01), Kumar

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