公开(公告)号：EP0268490A2

公开(公告)日：1988-05-25

申请号：EP87310245.3

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Casler, Richard James, Jr. ,  Vercellotti, Leonard Charles ,  Onaga, Eimei Ming ,  Johnson, Richard Arthur

IPC分类号： B25J9/00

CPC分类号： G05B19/237 ,  B25J13/088 ,  G05B2219/33337 ,  G05B2219/34466 ,  G05B2219/37313 ,  G05B2219/41123 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256 ,  G05B2219/45083

摘要： A digital control [Fig. 2] for a multiaxis robot [Fig. 1] includes a pulse width modulation (PWM) circuit [Fig. 58] which drives the arm joint motors (21-26) through a motor control loop. Pulse width modulated control signals (A1, A2, B1, B2) operate power switches in a power bridge [Fig. 5 or Fig. 11 B] to control the current to each robot joint motor. In addition, the PWM circuit provides time stabilized current sampling [Fig. 12] synchronized to the sampling frequency of position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor (59 or 63) independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers. Moreover, the PWM circuitry may be adapted for controlling either a brush [Fig. 5] or brushless [Fig. 11A] type DC arm joint motor.

摘要翻译： 一种数字控制图。 2]用于机器人多轴[图 1]包括脉冲宽度调制（PWM）电路图。 图5B]，其驱动通过一个电机控制回路的臂关节马达（21-26）。 脉冲宽度调制控制信号（A1，A2，B1，B2）中的功率桥[图操作电源开关。 5或图11B]，以控制电流到每个机器人关节马达。 此外，PWM电路提供时间稳定电流取样[图 12]同步到的位置和速度环的机器人控制的采样频率。 PWM方案通过独立的腿的数量的单个电流检测电阻器（59或63）中的功率放大器的配置的使用使得能够进行准确的电动机电流的测量。 此方案允许可商购的，成本低，电源块将被用于实现机器人控制系统的功率放大器。 更上方时，PWM电路可以angepasst用于控制任一刷[图 5]或无刷[图 图11A]型直流电动机臂关节。

公开(公告)号：EP0268495A3

公开(公告)日：1988-08-24

申请号：EP87310254

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Penkar, Rajan Chandrakant ,  Vercellotti, Leonard Charles

IPC分类号： B25J09/18

CPC分类号： B25J9/1633 ,  G05B19/4141 ,  G05B2219/33337 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256

摘要： A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction. Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate. Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microproces­sors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque com­mands and the current feedback signals. Pulse width modulators generate digital motor control signals for each of the robot axes at the sampling rate in response to the voltage commands. The digital control signals for each axis are coupled to control terminals of the corresponding power switches to control on/off switch time and satisfy the motor voltage commands and thereby satisfy the position commands.

公开(公告)号：EP0269372A3

公开(公告)日：1988-08-17

申请号：EP87310242

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Lancraft, Roy Edwin ,  Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Bergman, Norman Joseph ,  Muncy, Marcus David

IPC分类号： B25J09/18

CPC分类号： G05B19/4141 ,  G05B2219/33337 ,  G05B2219/42256

摘要： A digital robot control [Figures 3 and 5] is provided with cascaded position/velocity [Figure 10] and torque [Figure 6] control loops with microprocessor servo controllers in each. Each servo controller includes two microprocessors (202, 204) that operate as a servo engine in providing motion control for six robot axes [Figure 1, 21-26]. One microprocessor (202) is structured to perform data processing and coordination tasks. The other one (204) performs calculation tasks and operates as a slave processor to the first. Also included as part of the robot control is a digital position and velocity feedback system [Figure 13, 810, 812] for multiaxis robot control which employs a circuit [Figure 14, 813] to process robot motor encoder incremental position signals for position change and velocity computations. At low speeds, velocity is computed [Figure 17, 848] from the reciprocal of elapsed time. At higher speeds, velocity is computed (850) from the rate at which incremental position signals are generated.

公开(公告)号：EP0268490A3

公开(公告)日：1988-08-24

申请号：EP87310245

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Casler, Richard James, Jr. ,  Vercellotti, Leonard Charles ,  Onaga, Eimei Ming ,  Johnson, Richard Arthur

IPC分类号： B25J09/00

CPC分类号： G05B19/237 ,  B25J13/088 ,  G05B2219/33337 ,  G05B2219/34466 ,  G05B2219/37313 ,  G05B2219/41123 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256 ,  G05B2219/45083

摘要： A digital control [Fig. 2] for a multiaxis robot [Fig. 1] includes a pulse width modulation (PWM) circuit [Fig. 58] which drives the arm joint motors (21-26) through a motor control loop. Pulse width modulated control signals (A1, A2, B1, B2) operate power switches in a power bridge [Fig. 5 or Fig. 11 B] to control the current to each robot joint motor. In addition, the PWM circuit provides time stabilized current sampling [Fig. 12] synchronized to the sampling frequency of position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor (59 or 63) independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers. Moreover, the PWM circuitry may be adapted for controlling either a brush [Fig. 5] or brushless [Fig. 11A] type DC arm joint motor.

公开(公告)号：EP0269372A2

公开(公告)日：1988-06-01

申请号：EP87310242.0

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Lancraft, Roy Edwin ,  Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Bergman, Norman Joseph ,  Muncy, Marcus David

IPC分类号： B25J9/18

CPC分类号： G05B19/4141 ,  G05B2219/33337 ,  G05B2219/42256

摘要： A digital robot control [Figures 3 and 5] is provided with cascaded position/velocity [Figure 10] and torque [Figure 6] control loops with microprocessor servo controllers in each. Each servo controller includes two microprocessors (202, 204) that operate as a servo engine in providing motion control for six robot axes [Figure 1, 21-26]. One microprocessor (202) is structured to perform data processing and coordination tasks. The other one (204) performs calculation tasks and operates as a slave processor to the first. Also included as part of the robot control is a digital position and velocity feedback system [Figure 13, 810, 812] for multiaxis robot control which employs a circuit [Figure 14, 813] to process robot motor encoder incremental position signals for position change and velocity computations. At low speeds, velocity is computed [Figure 17, 848] from the reciprocal of elapsed time. At higher speeds, velocity is computed (850) from the rate at which incremental position signals are generated.

摘要翻译： 数字机器人控制[图3和图5]具有级联位置/速度[图10]和扭矩[图6]，每个具有微处理器伺服控制器的控制回路。 每个伺服控制器包括两个微处理器（202,204），它们作为伺服引擎运行，为六个机器人轴提供运动控制[图1-21-26]。 一个微处理器（202）被构造成执行数据处理和协调任务。 另一个（204）执行计算任务，并作为第一个从属处理器运行。 还包括作为机器人控制的一部分是用于多轴机器人控制的数字位置和速度反馈系统[图13，810,812]，其采用电路[图14,813]来处理机器人电动机编码器增量位置信号以用于位置变化， 速度计算。 在低速下，从经过时间的倒数计算速度[图17,848]。 在更高的速度下，从生成增量位置信号的速率计算速度（850）。

公开(公告)号：EP0269374A3

公开(公告)日：1988-08-24

申请号：EP87310244

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Jalbert, Vincent P.

IPC分类号： B25J09/18

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A modular digital robot control includes an electronic arm interface board for performing robot arm control dependent functions, an electronic torque processor board with paired microprocessors for operating the respective torque control loops for the robot joint motors, and an electronic servo control board with paired microprocessors for operating position and velocity control loops for the respective joint motors, said electronic boards being interfaced together by a digital bus. A system resource facility is provided for supporting communication between the microprocessors of the various boards and with input/output devices and other systems. A motion program which uses trajectory planning and interpolation to generate position commands In accordance with predefined moves set forth in a robot program is stored on the servo control board in a basic control configuration or is stored on an additional system control board in an expanded control configuration. A communication interface for the paired microprocessors of each board includes first and second memory banks which are cross-switched at a control sampling rate to provide a coordinated exchange of information between its respective pair of microprocessors.

公开(公告)号：EP0269374A2

公开(公告)日：1988-06-01

申请号：EP87310244.6

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Jalbert, Vincent P.

IPC分类号： B25J9/18

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A modular digital robot control includes an electronic arm interface board for performing robot arm control dependent functions, an electronic torque processor board with paired microprocessors for operating the respective torque control loops for the robot joint motors, and an electronic servo control board with paired microprocessors for operating position and velocity control loops for the respective joint motors, said electronic boards being interfaced together by a digital bus. A system resource facility is provided for supporting communication between the microprocessors of the various boards and with input/output devices and other systems. A motion program which uses trajectory planning and interpolation to generate position commands In accordance with predefined moves set forth in a robot program is stored on the servo control board in a basic control configuration or is stored on an additional system control board in an expanded control configuration. A communication interface for the paired microprocessors of each board includes first and second memory banks which are cross-switched at a control sampling rate to provide a coordinated exchange of information between its respective pair of microprocessors.

摘要翻译： 模块化数字机器人控制装置包括用于执行机器人手臂控制相关功能的电子手臂接口板，具有成对微处理器的电子扭矩处理器板以操作用于机器人关节马达的相应扭矩控制回路，以及具有成对微处理器的电子伺服控制板， 用于各个关节马达的操作位置和速度控制回路，所述电子板通过数字总线连接在一起。 提供系统资源设施用于支持各种板的微处理器之间的通信以及输入/输出设备和其他系统之间的通信。 使用轨迹规划和插补生成位置指令的运动程序根据机器人程序中规定的预定义移动，将以基本控制组态存储在伺服控制板上，或以扩展控制组态存储在其他系统控制板上 。 用于每个板的成对微处理器的通信接口包括以控制采样率交叉切换的第一和第二存储体，以提供其各自微处理器对之间的信息的协调交换。

公开(公告)号：EP0268495A2

公开(公告)日：1988-05-25

申请号：EP87310254.5

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Penkar, Rajan Chandrakant ,  Vercellotti, Leonard Charles

IPC分类号： B25J9/18

CPC分类号： B25J9/1633 ,  G05B19/4141 ,  G05B2219/33337 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256

摘要： A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.
Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.
Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microproces­sors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque com­mands and the current feedback signals.
Pulse width modulators generate digital motor control signals for each of the robot axes at the sampling rate in response to the voltage commands. The digital control signals for each axis are coupled to control terminals of the corresponding power switches to control on/off switch time and satisfy the motor voltage commands and thereby satisfy the position commands.

摘要翻译： 完全数字机器人控制以预定的采样速率运行。 机器人臂具有多个接头，每个接头都由电刷或刷式直流电动机驱动，电动马达或电刷型直流电动机通过连接在其中的功率开关的功率放大器桥式电路提供驱动电流，以在前进或后退中提供电动机绕组电流 方向。 增量式或绝对式编码器和转速计提供与采样速率同步产生的数字位置和速度反馈信号。 数字电机电流反馈信号也与采样率同步产生。 配对位置/速度微处理器响应于位置指令和位置和速度反馈信号以采样速率为每个机器人轴产生转矩指令。 配对扭矩微处理器响应于转矩指令和电流反馈信号以采样速率为每个机器人轴生成电动机电压指令。 脉冲宽度调制器响应于电压指令以采样速率为每个机器人轴生成数字电机控制信号。 每个轴的数字控制信号耦合到相应的电源开关的控制端，以控制开/关时间，满足电机电压指令，从而满足位置指令。