Multiprocessor position/velocity servo control for multiaxis digital robot control system

Patent · Tue Sep 19 00:00:00 EDT 1989

OSTI ID:5174063

Lancraft, R E; Daggett, K E; Omaga, E M; Casler, Jr, R J; Booth, B L; Bergman, N J; Nuncy, M D

This paper describes a digitally controlled robot. It comprises: an arm having a plurality of joints; each of the joints being axis driven by an electric motor drive; a power amplifier operable to supply drive current to each joint drive motor; respective feedback control loop means for respectively controlling the power amplifier for each of the joint drive motors; servo control means for performing control support tasks and calculation tasks; control means including a first microprocessor having a relatively high computing performance capability and a relatively low data processing interface capability; control means further including a second microprocessor having a relatively high data processing performance capability; means for interfacing the first and second microprocessors; means for generating position commands for implementation by the second microprocessor; means for detecting motor position and velocity for each drive axis and for generating corresponding digital feedback signals; means for operating the second microprocessor to control the interfacing means so as to send position commands to the first microprocessor and receive calculated torque commands from the first microprocessor; and means for operating the second microprocessor to apply the torque commands to the torque control circuitry for execution and for synchronously receiving from the motor detecting means the digital feedback position and velocity signals.

• Assignee: Westinghouse Electric Corp., Pittsburgh, PA
• Patent Number(s): US 4868474
• Application Number: PPN: US 7180723A
• OSTI ID: 5174063
• Resource Relation: Patent File Date: 4 Apr 1988
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
COMPUTERIZED CONTROL SYSTEMS
SUPERCOMPUTERS
ROBOTS
DIGITAL SYSTEMS
MICROPROCESSORS
OPERATION
SERVOMECHANISMS
COMPUTERS
CONTROL EQUIPMENT
CONTROL SYSTEMS
DIGITAL COMPUTERS
ELECTRONIC CIRCUITS
EQUIPMENT
MICROELECTRONIC CIRCUITS
990200* - Mathematics & Computers