Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1988-03-23
1991-09-10
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185682, 318573, 364513, 901 19, G05B 1942
Patent
active
050477005
ABSTRACT:
A control system for a multi-motor system such as a space telerobot having a remote computational node and a local computational node inter-connected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot motors is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus leading to a command processor. The command processor controls joint hardware and/or software for a plurality of direct current torque motors of the type used in telerobot joints and telerobot hand-held controllers. The motors are connected to the joint processor cards and respond to digital control signals from the joint command processor and a joint motor control card. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals which are stored at the controller card for processing by the command processor.
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"Universal Computer Control System (UCCS) for Space Telerobots".
Adams Harold W.
Ip Paul
Jones Thomas H.
Manning John R.
The United States of America as represented by the Administrator
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