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    Digital robot control having an improved pulse width modulator
    1.
    发明授权
    Digital robot control having an improved pulse width modulator 失效
    数字机器人控制具有改进的脉宽调制器

    公开(公告)号：US4894598A

    公开(公告)日：1990-01-16

    申请号：US231627

    申请日：1988-08-05

    申请人： Kenneth E. Daggett

    发明人： Kenneth E. Daggett

    IPC分类号： B25J13/08 ,  G05B19/23

    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 pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor 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.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

    摘要翻译： 脉宽调制（PWM）方案提供机器人控制命令的数字实现。 为此，它提供与机器人控制中的位置和速度环路的采样频率同步的时间稳定电流采样。 PWM方案通过使用单个电流检测电阻器实现精确的电动机电流测量，与功率放大器配置中的脚数无关。 该方案允许市售的低成本功率块用于机器人控制系统功率放大器的实现。 PWM方案在半定制大规模集成（LSI）电路中经济有效地实现，该电路在扭矩环微处理器和用于向机器人轴致动器施加电压的功率处理装置的驱动电路之间提供数字接口。 三轴接口和控制由单个LSI器件提供。

    Monitoring circuit
    5.
    发明授权
    Monitoring circuit 失效
    监控电路

    公开(公告)号：US4099668A

    公开(公告)日：1978-07-11

    申请号：US736796

    申请日：1976-10-29

    申请人： Michal M. Feilchenfeld ,  Kenneth E. Daggett ,  Raymond A. Lloyd

    发明人： Michal M. Feilchenfeld ,  Kenneth E. Daggett ,  Raymond A. Lloyd

    IPC分类号： H04Q9/00 ,  G01R31/28 ,  G06F11/00 ,  G06F11/27 ,  G08C25/00 ,  G01R15/12

    CPC分类号： G06F11/076 ,  G01R31/2834 ,  G06F11/0763 ,  G06F11/27

    摘要： A monitoring circuit for digital circuits is disclosed. The monitor is primarily applicable to digital circuits which operate in a cyclic mode with the digital patterns generated during each cycle being repeated in a predictable manner. A predetermined number of expected bit patterns are stored in a programmable memory. The stored bit patterns correspond on a bit-by-bit basis to the bit patterns generated by the circuit being monitored when this circuit is operating normally. In the self-scan mode each pattern generated by the circuit being monitored is compared to each of the patterns stored in the memory in a sequential manner. Each time a pattern generated by the circuit being monitored is found to identically correspond to a pattern stored in the memory a valid pattern pulse is generated which steps a down counter one count. If this process does not result in the down counter being stepped the expected number of times during the operating cycle, a flip-flop is set indicating that the circuit being monitored has malfunctioned. Provisions are also included for counting the transitions of a digital signal during predetermined portions of the cycle of the circuit being monitored and for monitoring the polarity and amplitude of a predetermined number of analog voltages. The result of all of these tests are combined to generate a signal indicating the operational status of the circuit being monitored. The monitoring circuit may also be operated in a one-to-one correspondence mode. In this mode each bit pattern generated by the circuit being monitored are compared to bit patterns stored in a selected memory location. If these bit patterns are not identical, a malfunction signal is generated.

    摘要翻译： 公开了一种用于数字电路的监控电路。 监视器主要适用于以循环模式操作的数字电路，其中在每个周期期间产生的数字模式以可预测的方式重复。 预定数量的预期位模式存储在可编程存储器中。 当该电路正常工作时，存储的位模式逐位对应于被监视电路产生的位模式。 在自扫描模式中，将所监视的电路产生的每个模式以顺序方式与存储在存储器中的每个模式进行比较。 每次发现被监视电路产生的模式与存储在存储器中的模式相同地对应时，产生一个递减计数器一个计数的有效模式脉冲。 如果这个过程不会导致计数器在操作周期期间达到预期的次数，则设置一个触发器，指示被监视的电路发生故障。 还包括用于在监视电路的周期的预定部分期间对数字信号的转变进行计数并监视预定数量的模拟电压的极性和幅度的规定。 所有这些测试的结果被组合以产生指示被监视的电路的操作状态的信号。 监视电路也可以以一一对应的方式操作。 在该模式中，将被监视电路产生的每个位模式与存储在所选存储器位置中的位模式进行比较。 如果这些位模式不相同，则产生故障信号。

    Communication apparatus and method
    6.
    发明授权
    Communication apparatus and method 失效
    通讯装置及方法

    公开(公告)号：US5553072A

    公开(公告)日：1996-09-03

    申请号：US380383

    申请日：1995-01-30

    申请人： Kenneth E. Daggett ,  Albert W. Crew ,  James M. Mussler

    发明人： Kenneth E. Daggett ,  Albert W. Crew ,  James M. Mussler

    IPC分类号： H04L12/28 ,  H04L12/413

    CPC分类号： H04L12/40019 ,  H04L12/40143 ,  H04B2203/5445 ,  H04L12/2803 ,  H04L12/2838 ,  H04L2012/2843

    摘要： An apparatus and method for media access control of a first node in a network on a powerline communication medium. The apparatus includes a priority controller for providing a transmit authorization signal. The authorization signal can be responsive to a unique priority of the first node in relation to other nodes in the network, with the priority controller receiving the node's priority from a node network controller in the first node. The apparatus includes an access controller for receiving the transmit authorization signal and, in response, communicating a transmit request signal to the node network controller. The apparatus also includes an arbitration controller for preventing the node from transmitting to the network until a predetermined number of other nodes have been allowed to precedentially access the network. The arbitration controller responds to the priority controller, and sends a transmit inhibition signal to the access controller, inhibiting node transmission irrespective of the authorization signal. The invention also provides a method for communication by a first node in a network having a plurality of nodes, including the steps of sensing a powerline communication medium for the presence of a carrier signal by the first node; inhibiting transmitting by the first node to the network if the presence of the carrier signal is sensed; and transmitting at least one data packet, if the carrier signal is not sensed on the network and the current priority period corresponds with a first predetermined priority period.

    摘要翻译： 一种用于电力线通信介质上的网络中的第一节点的媒体访问控制的装置和方法。 该装置包括用于提供发送授权信号的优先级控制器。 授权信号可以响应于第一节点相对于网络中的其他节点的唯一优先级，优先级控制器从第一节点中的节点网络控制器接收节点的优先级。 该设备包括一个接入控制器，用于接收发送授权信号，并作为响应，将传输请求信号传送给节点网络控制器。 该装置还包括一个仲裁控制器，用于防止节点向网络传输，直到预定数量的其他节点被允许先前访问网络。 仲裁控制器响应优先级控制器，并向接入控制器发送发送禁止信号，禁止节点传输，而不管授权信号如何。 本发明还提供了一种用于具有多个节点的网络中的第一节点进行通信的方法，包括以下步骤：感测电力线通信介质以存在第一节点的载波信号; 如果感测到载波信号的存在，则禁止由第一节点发送到网络; 以及如果在所述网络上未检测到所述载波信号并且所述当前优先级周期对应于第一预定优先级周期，则发送至少一个数据分组。

    Robotic workcell control system having improved input/output interfacing for better workcell operation
    8.
    发明授权
    Robotic workcell control system having improved input/output interfacing for better workcell operation 失效
    机器人工作单元控制系统具有改进的输入/输出接口，以实现更好的工作单元操作

    公开(公告)号：US4896087A

    公开(公告)日：1990-01-23

    申请号：US304972

    申请日：1989-01-31

    申请人： Eimei M. Onaga ,  Richard J. Casler, Jr. ,  James A. Hart ,  Kim N. Trinh ,  Kenneth E. Daggett

    发明人： Eimei M. Onaga ,  Richard J. Casler, Jr. ,  James A. Hart ,  Kim N. Trinh ,  Kenneth E. Daggett

    IPC分类号： B25J9/18 ,  G05B19/418

    CPC分类号： G05B19/41845 ,  G05B19/4185 ,  G05B2219/33187 ,  G05B2219/36112 ,  G05B2219/36371 ,  G05B2219/36395 ,  Y02P90/16 ,  Y02P90/18 ,  Y02P90/185

    摘要： A control system is provided for a workcell having a plurality of electric robots and a plurality of workcell equipment items in turn having a plurality of control and sensor devices associated therewith.Respective electronic robot controllers are disposed at respective workcell locations to operate robots as a part of the workcell process. Each robot controller has a floppy disk or other means for loading program data for one of the robot controllers.A first input/output control module is disposed at another workcell location and it has connected thereto as inputs a first group of the sensor devices and as outputs a first group of the control devices. Second and third input/output control modules are disposed at additional workcell locations and have connected thereto as inputs second and third groups of the sensor devices and as outputs second and third groups of the control devices.Additional input/output control modules are associated with the other robot controllers, and are similarly connected and placed in spaced workcell locations.A serial local area network connects each robot controller and its associated input/output modules to provide for program and process data communication. Each of the input/output modules has means including a microprocessor for operating the module in accordance with a system operating program downloadable from the associated robot controller to the module and for processing inputs and outputs in accordance a user process program downloadable from the associated robot controller to the module.

    Multiprocessor position/velocity servo control for multiaxis digital robot control system
    10.
    发明授权
    Multiprocessor position/velocity servo control for multiaxis digital robot control system 失效
    多轴数字机器人控制系统的多处理器位置/速度伺服控制

    公开(公告)号：US4868474A

    公开(公告)日：1989-09-19

    申请号：US180723

    申请日：1988-04-04

    申请人： Roy E. Lancraft ,  Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Barrett L. Booth ,  Norman J. Bergman ,  Marcus D. Nuncy

    发明人： Roy E. Lancraft ,  Kenneth E. Daggett ,  Eimei M. Onaga ,  Richard J. Casler, Jr. ,  Barrett L. Booth ,  Norman J. Bergman ,  Marcus D. Nuncy

    IPC分类号： G05B19/414

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

    摘要： A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.

    摘要翻译： 数字机器人控制器具有位置/速度和转矩控制回路，每个具有微处理器伺服控制器。 位置/速度伺服控制器包括两个微处理器，它们作为伺服引擎运行，为六个机器人轴提供位置/速度控制。 一个微处理器作为经理来执行支持位置/速度控制的数据处理和协调任务。 另一个微处理器执行位置和速度伺服计算任务，并作为位置/速度控制管理器的从属处理器运行。 位置/速度控制的编程将管理员位置和其他命令以及位置和速度反馈从其他控制级别发送到位置/速度计算器，并将从计算器接收的扭矩命令发送到下一个较低控制级别。 计算器采用位置/速度控制算法进行扭矩指令计算。