公开(公告)号：EP3149839A1

公开(公告)日：2017-04-05

申请号：EP15800642.9

申请日：2015-05-11

申请人： X Development LLC

发明人： KEMPER, Kevin ,  MAGNUSSON, Lee

IPC分类号： H02K11/00 ,  H02M1/00

CPC分类号： H02P6/002 ,  H02K11/33

摘要： Methods and systems for building arbitrary motor controllers are described. An example motor controller may include multiple motor power boards connected in a stacked configuration and coupled in parallel. Each motor power board may include one or more power transistors and one or more gate drivers having an input terminal coupled to a control signal connector and an output terminal coupled to a gate terminal of the one or more power transistors. The example motor controller may also include a power bus connector coupled, in parallel, to a respective output terminal of each of the multiple motor power boards. Further, the example motor controller may include a control system coupled to the control signal connector and configured to selectively enable a set that includes one or more of the multiple motor power boards based on an output power requirement.

摘要翻译： 描述用于构建任意电动机控制器的方法和系统。 示例性电动机控制器可以包括以堆叠配置连接并并联耦合的多个电动机电力板。 每个电动机功率板可以包括一个或多个功率晶体管和一个或多个栅极驱动器，其具有耦合到控制信号连接器的输入端子和耦合到所述一个或多个功率晶体管的栅极端子的输出端子。 示例性电动机控制器还可以包括并联连接到多个电动机功率板中的每一个的相应输出端子的电力总线连接器。 此外，示例性电动机控制器可以包括耦合到控制信号连接器并被配置为基于输出功率需求选择性地启用包括多个电动机功率板中的一个或多个的组的控制系统。

公开(公告)号：EP3148754A1

公开(公告)日：2017-04-05

申请号：EP15799198.5

申请日：2015-04-13

申请人： X Development LLC

发明人： KEMPER, Kevin

IPC分类号： B25J9/16 ,  B25J19/04

CPC分类号： B25J9/1674 ,  B25J13/085 ,  B25J17/00 ,  B25J19/00

摘要： In examples, robotic devices with ambient indications of joint status are provided. An example robotic device includes one or more actuators coupled through one or more joints to form a robotic manipulator, and an indicator co-located in proximity to the one or more joints to provide visual feedback on the robotic manipulator at the one or more joints and about the one or more joints. The visual feedback may include information indicative of an operating status of the one or more joints including an indication of an amount of torque that the one or more joints is experiencing. The robotic device also includes a controller programmable to control the indicator co-located proximal to the one or more joints to provide the visual feedback indicative of the operating status of the one or more joints.

摘要翻译： 在实例中，提供具有联合状态的环境指示的机器人装置。 示例性机器人设备包括通过一个或多个关节耦合以形成机器人操纵器的一个或多个致动器，以及与所述一个或多个接头相邻的指示器，以在所述一个或多个关节处对所述机器人操纵器提供视觉反馈， 关于一个或多个关节。 视觉反馈可以包括指示一个或多个关节的操作状态的信息，包括一个或多个关节正在经历的扭矩量的指示。 机器人装置还包括可编程的控制器，用于控制指向一个或多个接头附近的指示器，以提供指示一个或多个关节的操作状态的视觉反馈。