Multiaxis robot controller having workpoint torque control
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United States of America Patent
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-
Sep 1, 1992
Grant Date -
N/A
app pub date -
Jan 31, 1989
filing date -
Jan 31, 1989
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
Workpoint torque control is employed in an electron multiaxis robot controller. Robot axis torque is determined from axis motor current feedback. Axis torque requests are based on torque command and torque feedback in an axis torque control mode or on the basis of position, velocity and torque commands and position, velocity and torque feedback in a combined position/torque control mode, or an indirect torque control mode.
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