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：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。