Multiaxis robot controller having workpoint torque control

Details Multiaxis robot controller having workpoint torque control Multiaxis robot controller having workpoint torque control

1989-01-31

1992-09-01

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

B25J 918

Patent

active

051442116

ABSTRACT:
Workpoint torque control is employed in an electron multiaxis robot controller. Robot axis torque is determined from axis motor current feedback. Axis torque requests are based on torque command and torque feedback in an axis torque control mode or on the basis of position, velocity and torque commands and position, velocity and torque feedback in a combined position/torque control mode, or an indirect torque control mode.

REFERENCES:
patent: 4712052 (1987-12-01), Omae et al.
patent: 4829219 (1989-05-01), Penkar

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