Robotics Research Corporation

Paul H Eismann

Jack M Thompson, Jr

David A Damico

James P Karlen

Keith A Kowalski

In a device having a first member and a second member which are driven relative to one another by an actuator, a servocontrol derives feedback by sensing the torque applied on one of the members by the actuator. The actuator drive signal is modified by a compensation network in response to the torque measurement to provide stability across a bandwidth extending beyond the resonant frequency of the members, thereby providing smooth, accurate and precise motion.

Industrial robot with servo

A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

Growing community of inventors

Florence, KY, United States of America

Paul H Eismann