Patent US4801856A successfully refreshed from Google Patents.
US4801856A
Expired / Lapsed
US
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Robot control apparatus
Assignee: Toshiba Corp
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Filing: 1987-04-21
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Granted: 1989-01-31
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Expires: 2007-04-21
Abstract
Abstract A position of an actuation unit of a robot and a speed of a motor for driving the actuation unit are detected. A speed reference is produced on the basis of a deviation between a movement value and a position detected. Further, a torque reference is produced on the basis of a deviation between the speed reference and a speed detected. The motor for driving the actuation unit is subjected to current control. The magnitude of the torque reference is limited by a limiter. This limiter operates only when a command for allowing the robot to be subjected to emergency stop is received, and carries out limiting operation on the basis of a function which rises from the time point when the command is received.
Inventors
- 👤 Hiroki Wajima
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 04:32
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/402; G05B19/416
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
174 words
A robot control apparatus comprising: a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control unit for producing a torque reference on the basis of a deviation between a detection value of said speed detector and said speed reference; a current control unit for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating a function which moderately increases its function value from a point in time when a command for allowing said robot to be subjected to an emergency stop is received; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received.
Claim 2
Dependent Claim
174 words
A robot control apparatus comprising: a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control unit for producing a torque reference on the basis of a deviation between a detection value of said speed detector and said speed reference; a current control unit for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating a function which moderately increases its function value from a point in time when a command for allowing said robot to be subjected to an emergency stop is received; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received.
Claim 3
Dependent Claim
20 words
A robot control apparatus as set forth in claim 1, wherein said function generator generates a function which exponentially increases.
Claim 4
Dependent Claim
29 words
A robot control apparatus as set forth in claim 2, wherein said function is generated on the basis of a time constant determined by a resistor and a capacitor.
Claim 5
Dependent Claim
20 words
A robot control apparatus as set forth in claim 1, wherein said function generator generates a function which linearly increases.
Claim 6
Dependent Claim
34 words
A robot control apparatus as set forth in claim 2, wherein said function does not increase its function value beyond a predetermined value by making use of a breakdown voltage of a Zener diode.
Claim 7
Dependent Claim
34 words
A robot control apparatus as set forth in claim 4, wherein said function does not increase its function value beyond a predetermined value by making use of a breakdown voltage of a Zener diode.
Claim 8
Dependent Claim
174 words
A robot control apparatus comprising: a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control loop for producing a torque reference on the basis of a deviation between a detection unit of said speed detector and said speed reference; a current control loop for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating, when a command indicative of an emergency stop is produced, a function output of said torque reference which moderately increases its function value up to a predetermined function value; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received.
Claim 9
Dependent Claim
174 words
A robot control apparatus comprising: a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control loop for producing a torque reference on the basis of a deviation between a detection unit of said speed detector and said speed reference; a current control loop for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating, when a command indicative of an emergency stop is produced, a function output of said torque reference which moderately increases its function value up to a predetermined function value; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received.
Claim 10
Dependent Claim
36 words
The robot control apparatus as set forth in claim 7 wherein said function avoids an increase of its function value beyond the predetermined function value by making use of a breakdown voltage of a Zener diode.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-01-31 | 1992-08-01 | 1993-01-31 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-01-31 | 1996-08-01 | 1997-01-31 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-01-31 | 2000-08-01 | 2001-01-31 | $7700.00 | Window Closed / Lapsed |