Robot with micro processor-based digital robot control

摘要

A digital robot control [Figures 3 and 5] is provided with cascaded position/velocity [Figure 10] and torque [Figure 6] control loops with microprocessor servo controllers in each. Each servo controller includes two microprocessors (202, 204) that operate as a servo engine in providing motion control for six robot axes [Figure 1, 21-26]. One microprocessor (202) is structured to perform data processing and coordination tasks. The other one (204) performs calculation tasks and operates as a slave processor to the first. Also included as part of the robot control is a digital position and velocity feedback system [Figure 13, 810, 812] for multiaxis robot control which employs a circuit [Figure 14, 813] to process robot motor encoder incremental position signals for position change and velocity computations. At low speeds, velocity is computed [Figure 17, 848] from the reciprocal of elapsed time. At higher speeds, velocity is computed (850) from the rate at which incremental position signals are generated.