Real-time vision system and control algorithm for a spherical mo

Details Real-time vision system and control algorithm for a spherical mo Real-time vision system and control algorithm for a spherical mo

1993-09-10

1995-05-16

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856821, 395 94, 901 9, 901 15, H02K 3300

Patent

active

054163927

ABSTRACT:
A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18) . A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) my be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80). Finally, a video controller (106) can be interfaced with the vision system (80) for converting digital image data in real time to analog image data conforming to the (RS-170 television standard for viewing on a display device (116).

REFERENCES:
patent: 3596523 (1971-08-01), Clark
patent: 3780444 (1973-12-01), Taylor
patent: 3854341 (1974-12-01), Quermann
patent: 3877850 (1975-04-01), Berry
patent: 3899728 (1975-08-01), Hoppe
patent: 4524386 (1985-06-01), Scott
patent: 4533827 (1985-08-01), Fincher
patent: 4628765 (1986-12-01), Dien et al.
patent: 4634889 (1987-01-01), Foggia et al.
patent: 4707642 (1987-11-01), Sorimachi et al.
patent: 4707647 (1987-11-01), Coldren et al.
patent: 4727278 (1988-02-01), Staufenberg, Jr. et al.
patent: 4739241 (1988-04-01), Vachtsevanos et al.
patent: 4807153 (1989-02-01), Onaga et al.
patent: 4853630 (1989-08-01), Houston
patent: 4864206 (1989-09-01), Onaga et al.
patent: 4874998 (1989-10-01), Hollis, Jr.
patent: 4962425 (1990-10-01), Rea
patent: 4963036 (1990-10-01), Drisko et al.
patent: 4983875 (1991-01-01), Masaki et al.
patent: 4998284 (1991-03-01), Baucus et al.
patent: 5010773 (1991-04-01), Lorenz et al.
patent: 5023533 (1991-06-01), Ishikawa et al.
patent: 5027115 (1991-06-01), Sato et al.
patent: 5033096 (1991-07-01), Morrison et al.
patent: 5038065 (1991-08-01), Matsubayashi
patent: 5043621 (1991-08-01), Culp
patent: 5046190 (1991-09-01), Daniel et al.
patent: 5113117 (1992-05-01), Brooks et al.
patent: 5125595 (1992-06-01), Helton
patent: 5146340 (1992-09-01), Dickerson et al.
patent: 5146566 (1992-09-01), Hollis, Jr. et al.
patent: 5165841 (1992-11-01), Asano et al.
patent: 5168221 (1992-12-01), Houston
patent: 5177563 (1993-01-01), Everett et al.
patent: 5180955 (1993-01-01), Karidis et al.
patent: 5185667 (1993-02-01), Zimmermann
patent: 5199864 (1993-04-01), Stecklein
patent: 5204573 (1993-04-01), Bederson et al.
patent: 5223709 (1993-06-01), Pettypiece
patent: 5280225 (1994-01-01), Pine et al.
patent: 5319577 (1994-06-01), Lee
G. J. Vachtsevanos et al., "Development of a Novel Intelligen Robotic Manipulator," IEEE Control Systems Magazine, Jun. 1987, vol. 7, No. 3.
K. Davey et al., "The Analysis of Fields and Torques in Spherical Induction Motors," IEEE Transactions of Magnetics, vol. mag-23, No. 1, Jan. 1987, pp. 273-281.
R. L. Hollis et al., "A Six Degree-of-Freedom Magneticaly Levitated Varable Compliance Fine Motion Wrist," Proceedings of the Fourth International Symposium on Robotics Research, Santa Cruz, Aug., 1987, pp. 65-73.
K. Kaneko et al., "A Spherical DC Servo Motor with Three Degrees of Freedom," ASME Trans. on Dynamic Systems, Measurement & Control, vol. III, Sep. 1989, pp. 398-408.
A. Foggia et al., "A New Three Degrees of Freedom Electromagnetic Actuator," Conference Record-IAS Annual Mtg. vol. 35, No. 6, pp. 137-141.
K.-M. Lee, "Development of a Variable-Reluctance Spherical Motor," Reprint of Proceeding of the 18th NSF Grantees Conference on Design and Manufacturing Systems Research, Atlanta, Ga. Jan. 8-12, 1992.
Lee, K.-M., "Design Concept and Prototype Development of a Flexible Integrated Vision System," presented at SME Applied Vision Conference, Jun. 1-4, 1992, Atlanta, Ga.
Lee, K.-M., "A Machine-Vision-Based Wrist Sensor for Direct Measurement of Three Degrees-of-Freedom Orientation", presented at SME Applied Vision Conference, Jun. 1-4, 1992, Atlanta, Ga.

Affiliated with

Also associated with

Rating

Real-time vision system and control algorithm for a spherical mo does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Real-time vision system and control algorithm for a spherical mo, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Real-time vision system and control algorithm for a spherical mo will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-640194