Device for position measurement

Claim 1

An apparatus for measuring the position of servo controlled mechanical members, such as manipulator members of industrial robots, comprising: angular position transducer means including a plurality of synchros or resolvers associated with said mechanical members, said transducer means providing first and second modulated a.c. output signals respectively modulated in accordance with the sine and the cosine of an instantaneous angular position θ of said transducer means; subtraction means for generating a difference signal based on said first and second modulated a.c. output signals from said transducer means, said difference signal representing a difference between θ of said transducer means and φ, wherein φ denotes a desired corresponding angular position of said transducer means and wherein said subtraction means comprises: quadrant selector means for receiving said modulated a.c. output signals from said transducer means; first and second multiplying means for respectively multiplying said first and second modulated a.c. output signals from said quadrant selector means with second and third signals corresponding to sin φ and cos φ, respectively, to provide first and second multiplied signals; and differential amplifier means having inputs connected to outputs of said first and second multiplying units for receiving said first and second multiplied signals; demodulator means for demodulating said difference signal to form a demodulated difference signal; multiplexing means for alternately connecting said transducer means to said subtraction means, said multiplexing means comprising a first multiplexer receiving from said transducer means said first modulated a.c. output signal and a second multiplexer for receiving from said transducer means said second modulated a.c. output signal; signal evaluation means for receiving said demodulated difference signal and for transmitting to said subtraction means a signal representative of φ, said signal evaluation means comprising an analog to digital converter connected to an output of said demodulator means, and a microprocessor connected to an output of said analog to digital converter for calculating said esired angular position φ based on the rate of change of the last sampled value of φ; and data bus means for connecting said microprocessor to said first and second multiplying means and for transmitting from said microprocessor a digital value corresponding to φ to said first and second multiplying means wherein the position of the said servo controlled mechanical members is determined when φ is equal to θ.

Claim 2

An apparatus for measuring the position of servo controlled mechanical members, such as manipulator members of industrial robots, comprising: angular position transducer means including a plurality of synchros or resolvers associated with said mechanical members, said transducer means providing first and second modulated a.c. output signals respectively modulated in accordance with the sine and the cosine of an instantaneous angular position θ of said transducer means; subtraction means for generating a difference signal based on said first and second modulated a.c. output signals from said transducer means, said difference signal representing a difference between θ of said transducer means and φ, wherein φ denotes a desired corresponding angular position of said transducer means and wherein said subtraction means comprises: quadrant selector means for receiving said modulated a.c. output signals from said transducer means; first and second multiplying means for respectively multiplying said first and second modulated a.c. output signals from said quadrant selector means with second and third signals corresponding to sin φ and cos φ, respectively, to provide first and second multiplied signals; and differential amplifier means having inputs connected to outputs of said first and second multiplying units for receiving said first and second multiplied signals; demodulator means for demodulating said difference signal to form a demodulated difference signal; multiplexing means for alternately connecting said transducer means to said subtraction means, said multiplexing means comprising a first multiplexer receiving from said transducer means said first modulated a.c. output signal and a second multiplexer for receiving from said transducer means said second modulated a.c. output signal; signal evaluation means for receiving said demodulated difference signal and for transmitting to said subtraction means a signal representative of φ, said signal evaluation means comprising an analog to digital converter connected to an output of said demodulator means, and a microprocessor connected to an output of said analog to digital converter for calculating said esired angular position φ based on the rate of change of the last sampled value of φ; and data bus means for connecting said microprocessor to said first and second multiplying means and for transmitting from said microprocessor a digital value corresponding to φ to said first and second multiplying means wherein the position of the said servo controlled mechanical members is determined when φ is equal to θ.

Claim 3

An apparatus for measuring the position of servo controlled mechanical members, such as manipulator members of industrial robots, comprising: angular position transducer means including a plurality of synchros or resolvers associated with said mechanical members, said transducer means providing first and second modulator a.c. output signals respectively modulated in accordance with the sine and the cosine of an instantaneous angular position θ of said transducer means; subtraction means for generating a difference signals based on said first and second modulated a.c. output signals from said transducer means, said difference signal representing a difference between θ of said transducer means, and φ wherein φ denotes a desired corresponding angular position of said transducer means, demodulator means for demodulating said difference signal to form a demodulated difference signal; signal evaluation means including a microprocessor for receiving said demodulated difference signal and for calculating φ based on the rate of change of the last sampled value of φ and for transmitting to said subtraction means a signal representative of φ; multiplexing means for alternately connecting said transducer means to said subtraction means, said multiplexing means comprising a first multiplexer receiving from said transducer means said first modulated a.c. output signal and a second multiplexer for receiving from said transducer means said second modulated a.c. output signal; and said subtraction means further comprising: first and second latch means connected to said microprocessor via a data bus means for latching digital values of sine φ and cosine φ as generated by said microprocessor; first and second multiplying linear digital to analog converters respectively connected to said first and second latch means for converting said digital value from said microprocessor to an analog value and for subsequently multiplying said first modulated a.c. output signal by said sine value of φ and for subsequently multiplying said second modulated a.c. output signal by said cosine value of φ; and differential amplifier means having inputs connected to outputs of said first and second multiplying linear digital to analog converters the position of the said servo controlled mechanical members angle is determined when φis equal to θ.

Claim 4

An apparatus for measuring the position of servo controlled mechanical members, such as manipulator members of industrial robots, comprising: angular position transducer means including a plurality of synchros or resolvers associated with said mechanical members, said transducer means providing first and second modulator a.c. output signals respectively modulated in accordance with the sine and the cosine of an instantaneous angular position θ of said transducer means; subtraction means for generating a difference signals based on said first and second modulated a.c. output signals from said transducer means, said difference signal representing a difference between θ of said transducer means, and φ wherein φ denotes a desired corresponding angular position of said transducer means, demodulator means for demodulating said difference signal to form a demodulated difference signal; signal evaluation means including a microprocessor for receiving said demodulated difference signal and for calculating φ based on the rate of change of the last sampled value of φ and for transmitting to said subtraction means a signal representative of φ; multiplexing means for alternately connecting said transducer means to said subtraction means, said multiplexing means comprising a first multiplexer receiving from said transducer means said first modulated a.c. output signal and a second multiplexer for receiving from said transducer means said second modulated a.c. output signal; and said subtraction means further comprising: first and second latch means connected to said microprocessor via a data bus means for latching digital values of sine φ and cosine φ as generated by said microprocessor; first and second multiplying linear digital to analog converters respectively connected to said first and second latch means for converting said digital value from said microprocessor to an analog value and for subsequently multiplying said first modulated a.c. output signal by said sine value of φ and for subsequently multiplying said second modulated a.c. output signal by said cosine value of φ; and differential amplifier means having inputs connected to outputs of said first and second multiplying linear digital to analog converters the position of the said servo controlled mechanical members angle is determined when φis equal to θ.