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公开(公告)号：US06936989B2
公开(公告)日：2005-08-30
申请号：US10216151
申请日：2002-08-09
CPC分类号： B60N2/0232 , B60H1/00428 , B60W2050/0045 , G05B2219/2637 , H02P5/68 , Y02T10/88
摘要： A pulse count motor control device that connects to a central control unit through a first interface and to at least one motor through a second interface. A microprocessor integrated into the motor control device then allows it to directly monitor and drive the motor or motors in accordance with pulse count technology methods.
摘要翻译： 脉冲计数电动机控制装置，其通过第一接口连接到中央控制单元，并通过第二接口连接至至少一个电动机。 集成到电机控制装置中的微处理器允许其根据脉冲计数技术方法直接监视和驱动电动机或电动机。
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公开(公告)号：US08055384B2
公开(公告)日：2011-11-08
申请号：US12214196
申请日：2008-06-17
申请人： Chih-Ru Lien , Li-Te Kuo
发明人： Chih-Ru Lien , Li-Te Kuo
CPC分类号： G05B19/238 , G05B19/29 , G05B19/35 , G05B2219/42104
摘要： The present invention discloses a positioning control apparatus which receives a moving command and a feedback signal outputted from a controlled device, and controls the controlled device for moving and positioning. The positioning control apparatus includes a first control loop, a second control loop and an arbitration module with a dead point default value, wherein the first control loop is used to control the controlled device moving in response to the error of the moving command and the feedback signal, on the other hand, the second control loop is used to control the controlled device positioning. Furthermore, the arbitration module compares the default value of dead point with the moving command so as to enable either the first control loop or the second control loop.
摘要翻译： 本发明公开了一种定位控制装置，其接收从受控装置输出的移动指令和反馈信号，并控制受控装置的移动和定位。 定位控制装置包括第一控制回路，第二控制回路和具有死点缺省值的仲裁模块，其中第一控制回路用于响应于移动指令的错误和反馈来控制受控设备移动 信号，另一方面，第二控制环用于控制受控设备定位。 此外，仲裁模块将死点的默认值与移动命令进行比较，以使第一控制回路或第二控制回路成为可能。
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公开(公告)号：US5811951A
公开(公告)日：1998-09-22
申请号：US734423
申请日：1996-10-14
CPC分类号： B25J9/1643 , B25J9/042 , B25J9/106 , B25J9/1615 , G05B2219/39414 , G05B2219/40296 , G05B2219/40301 , G05B2219/40339 , G05B2219/40367
摘要： A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.
摘要翻译： 一种高精度的冗余机器人操纵器，用于克服由障碍物施加的内容或由高度拥挤的工作空间施加的内容。 操纵器的一个实施例具有四个自由度，另一个实施例具有七个自由度。 每个实施例利用第一选择性兼容组装机器人臂（SCARA）构造来在垂直平面中提供高刚度，第二SCARA构造以在水平面中提供高刚度。 七自由度实施例还利用运动学冗余来提供避免位于操纵器的基座和操纵器的末端执行器或连杆之间的障碍物的能力。 这些附加的三个自由度在机械手的腕部连接处被添加以提供俯仰，偏航和滚动。 七自由度实施例在每个自由度上使用一个旋转点。 对于每个旋转接头，引入耦合到电动机的谐波齿轮，并且与适当设计的伺服控制器一起提供小于10微米的终点重复性。
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