Robot control system

Details Robot control system Robot control system

1985-12-13

1987-07-21

Dobeck, Benjamin

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318563, 318565, G05B 1942

Patent

active

046820892

ABSTRACT:
In a control system for a robot having a servo motor driving an operation axis, position error detecting means, detects an error of the actual position with reference to a desired instantaneous position, and a drive circuit receives the position error for supplying a current to the servo motor to reduce the position error. The control system is characterized by means for limiting the current supplied from the drive circuit to the servo motor thereby to limit the torque of the servo motor when the servo motor is driving the operation axis in a first mode in which movement of the operation axis is subject to undesired obstruction.

REFERENCES:
patent: 4374423 (1983-02-01), Kundler et al.
patent: 4412162 (1983-10-01), Kitamura
patent: 4475160 (1984-10-01), Inaba
patent: 4550378 (1985-10-01), Nozawa et al.
patent: 4580085 (1986-04-01), Eto et al.

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