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특허 상세정보

Modular robot control system

국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판) G06F-009/02    B25J-013/00   
미국특허분류(USC) 318/5682 ; 364/513 ; 318/56822
출원번호 US-0932983 (1986-11-20)
발명자 / 주소
출원인 / 주소
인용정보 피인용 횟수 : 27  인용 특허 : 12
초록

A modular digital robot control includes an electronic arm interface board provided with circuitry for performing robot arm dependent functions. Included are circuitry for generating power amplifier control signals in response to input voltage command signals and circuitry for processing and manipulating position, velocity and motor current feedback signals. An electronic torque processor board is provided with paired torque microprocessors for operating each of respective torque control loops for respective robot joint motors. The torque microprocessors...

대표
청구항

A modular robot control as set forth in claim 1 wherein said arm interface module is embodied on a first electronic board; said torque processor module is embodied on a second electronic board; and said position/velocity servo module is embodied on a third electronic board.

이 특허에 인용된 특허 (12)

  1. Bartelt Richard (Erlangen DEX) Meier Christof (Heroldsbach DEX). Apparatus and method for controlling an industrial robot. USP1987054665352.
  2. Resnick, Brian J.; Messina, Elena R.; Bhatia, Madhukar; Holmes, John G.. Apparatus and method for oscillatory motion control. USP1985084538233.
  3. Mizumoto Masakatsu (Kanazawa JPX) Umano Yasuhiro (Ishikawa JPX). Control circuit for transfer device. USP1987034654569.
  4. Ailman LaVerne K. (Lebanon OH) Riggen Danny E. (Middletown OH) Tarvin Ronald L. (Cincinnati OH). Machine control with motor velocity constraint. USP1986114623971.
  5. Arimura Yoshiaki (Yokohama JPX) Obama Masao (Yokosuka JPX) Hitomi Yutaka (Yokohama JPX). Multi-joint arm robot apparatus. USP1986124631689.
  6. Inaba Hajimu (Hino JPX) Miyashita Hideo (Hino JPX). Positioning device for an industrial robot. USP1980124240016.
  7. Itoh Atsushi (Aichi JPX). Robot control apparatus. USP1986064594670.
  8. Mori Shunji (Aichi JPX) Ito Masanobu (Aichi JPX). Robot controller with parallel processing of plural weighted position data which is combined at output to form a single. USP1986114625285.
  9. Yabe Yuhiko (Kasukabe JPX) Uzuhashi Hideo (Tochigi JPX) Yoshikawa Yoshiaki (Tochigi JPX). Robot operation control system. USP1986124633414.
  10. Wilder Joseph (Princeton NJ) Ray Rajarshi (Plainsboro NJ). Robotic acquisition of objects by means including histogram techniques. USP1986094613269.
  11. Hutchins Burleigh M. (Hopkinton MA) Buote William J. (Natick MA) Finn Lawrence J. (Westborough MA). Self-configuring robotic system and method. USP1986034578764.
  12. Bleidorn Werner-Wilhelm (Erlangen DEX) Krause Norbert (Bubenreuth DEX). System for controlling motion of a robot. USP1988014718078.

이 특허를 인용한 특허 피인용횟수: 27

  1. Hochhalter, Keith; Romslo, Paul M.; Erickson, Troy D.. Adaptable servo-control system for force/position actuation. USP2004126828522.
  2. Katariya, Ashish S.; Magee, David P.. Automated motor control. USP2015038981702.
  3. Lapham, John R.. Automation equipment control system. USP2013068473202.
  4. Lapham, John R.. Automation equipment control system. USP2014068761932.
  5. Lapham, John R.. Automation equipment control system. USP2011118050797.
  6. Okano Yoshiyuki,JPX. Control apparatus for brushless DC motor. USP1998075777447.
  7. Labriola ; II Donald P.. Digital motor driver circuit and method. USP1999115977737.
  8. Fischer, Wolfgang. Drive unit for a vehicle for use as a robot in pipe systems, cavities or the like and a vehicle having same. USP2013018360177.
  9. Trujillo, Orlando; Geary, James W.. Electric motor based holding control systems and methods. USP2017119815193.
  10. Akihiro Yanagita. Error recovery methods for controlling robotic systems. USP2002036360143.
  11. Rosengren, Gary W.; Bourgoine, Ryan H.; Forbord, Jeremy R.. High stiffness thrust component for linear actuator. USP2016059334936.
  12. Gonzalez-Banos, Hector H.; Ng-Thow-Hing, Victor; Yang, Allen Y.. Interface for robot motion control. USP2011118060251.
  13. Pearce, Robert; Yundt, George Borkey. Interpolator for a networked motion control system. USP2012078214415.
  14. Casler ; Jr. Richard J. (Newtown CT) Daggett Kenneth E. (Murrysville PA) Davis Jeffrey R. (Sandy Hook CT) Riehm George E. (New Fairfield CT). Lid dispenser. USP1997125692359.
  15. Prisco, Giuseppe M.; Rosa, David J.; Larkin, David. Q. Medical robotic system with programmably controlled constraints on error dynamics. USP2010067741802.
  16. Prisco, Giuseppe M.; Larkin, David Q.. Medical robotic system with sliding mode control. USP2015099119652.
  17. Prisco, Giuseppe M.; Larkin, David Q.. Medical robotic system with sliding mode control. USP2015049008842.
  18. Jeong Joon-Young,KRX. Method and apparatus for automatic running control of a robot. USP1998075781697.
  19. Okrah, Angel Y.. Method and system for using a buffer to track robotic movement. USP2003076594550.
  20. Prisco, Giuseppe; Rosa, David J.. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system. USP2016019241767.
  21. Prisco, Giuseppe Maria; Rosa, David J.. Methods for handling an operator command exceeding a medical device state limitation in a medical robotic system. USP2017029566124.
  22. Allen, Robert M.; Brown, Kevin P.; Holt, Andrew B.; Vershum, Lynn E.. Programmable load forming system, components thereof, and methods of use. USP2011088000837.
  23. Yoshiki Hashimoto JP; Yoshiyuki Kubo JP; Takehisa Sera JP. Robot control device. USP2002056396030.
  24. Zesch, Wolfgang; Wiesendanger, Markus. Robot platform for remotely controlled and/or autonomous inspection of technical facilities. USP2013028369990.
  25. Kuffner, James Joseph. Robotic operation libraries. USP20190210207407.
  26. Prieto, Robert; Kapila, Vikram; Frank, Jared Alan; Lopez, David Alberto. Universal construction robotics interface. USP2016039292015.
  27. Kim Dong-Il (Seoul KRX). Velocity control method for a synchronous AC servo motor. USP1993125272423.