Digital robot control having pulse width modulator operable with reduced noise
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United States of America Patent
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-
Dec 25, 1990
Grant Date -
N/A
app pub date -
Jan 31, 1989
filing date -
Jan 31, 1989
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.
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