Digital robot control having an improved current sensing system for power amplifiers in a digital robot control
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United States of America Patent
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-
Feb 20, 1990
Issued Date -
N/A
app pub date -
Apr 4, 1988
filing date -
Nov 20, 1986
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.
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