Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1986-11-20
1988-09-27
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318567, 318571, 901 20, 364513, 36416701, G05B 1942
Patent
active
047744456
ABSTRACT:
A digital robot control is provided with digital position, velocity and torque control looping to operate joint motors associated with multiple axes of the robot. Motion programming includes planning and trajectory programs for generating position commands for the control looping on the basis of acceleration, slew and deceleration values that specify robot program specifications for timed moves.
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Brzuszek J. L.
Ip Paul
Shoop Jr. William M.
Unimation Inc.
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