Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1988-04-04
1989-09-19
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318562, 318573, 364513, 901 19, 901 23, G06F 1546
Patent
active
048684740
ABSTRACT:
A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.
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Bergman Norman J.
Booth Barrett L.
Casler, Jr. Richard J.
Daggett Kenneth E.
Lancraft Roy E.
Brzuszek J. L.
Ip Paul
Shoop Jr. William M.
Westinghouse Electric Corp.
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