Digital robot control having pulse width modulator operable with

Details Digital robot control having pulse width modulator operable with Digital robot control having pulse width modulator operable with

1989-01-31

1990-12-25

MacDonald, Allen R.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318599, 901 23, G05B 1942

Patent

active

049808389

ABSTRACT:
A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.

REFERENCES:
patent: 4581565 (1986-04-01), Van Pelt et al.
patent: 4600983 (1986-07-01), Petsch
patent: 4710686 (1987-12-01), Guzik
patent: 4786847 (1988-11-01), Daggett et al.

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