Universal computer control system for motors
September 10, 2008. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.Patent References 3845284 Apparatus for synchronizing AC-motors Power driver control circuit for servo actuator Control system for manipulator apparatus Teaching- playback robot Robot arm controller with common bus memory Method of sensing abnormal condition in robot control apparatus Robot system with interchangeable hands Error detecting mechanism for servosystem Feed control system with a safety device InventorAssigneeApplicationNo. 172105 filed on 03/23/1988US Classes:318/568.1, With program recording or composing means318/568.2, With plural control systems (e.g., the interaction of plural processors to control the plural joints of a single robot):318/573, With interpolating means700/249, Plural processors700/264, Having particular operator interface (e.g., teaching box, digitizer, tablet, pendant, dummy arm)901/19DRIVE SYSTEM FOR ARMExaminersPrimary: Ip, PaulAttorney, Agent or FirmForeign Patent References
International ClassG05B 019/42AbstractA 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.The invention described herein was made in the performance of work under a NASA contract and is subject to the provisions of Public Law 96-517 (35 USC 202) in which the Contractor has elected not to retain title.Other References
Field of SearchMotors electrically connected in cascade or tandemMotor used as braking generator (dynamic braking) With program recording or composing means With "feed-rate" control With particular program teaching method With multimode control (e.g., course-fine, position-force, etc.) Multifunction manipulator (i.e., Robot) With particular sensing device Including velocity control Mobile robot With reliability enhancement means (e.g., monitoring, redundant circuits, etc.) Program- or pattern-controlled systems Contouring systems Including display device Digital or numerical systems With plural control systems (e.g., the interaction of plural processors to control the plural joints of a single robot): With particular coordinate transformation means Including program modification Manual lead through Including end effector (e.g., gripping jaw, micromanipulator, etc.) With "zero-offset" or tool radius correction With particular interpolation means With particular compensation (e.g., gain, offset, etc.) Maneuver, force, or load-limiting Pulse-width modulated power input to motor (e.g., "duty cycle" systems) Spherical DRIVE SYSTEM FOR ARM With provision for altering speed of driven element Flaccid drive element Fluid motor Electric motor | |
