The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 27, 1988
Filed:
Nov. 20, 1986
Applicant:
Inventor:
Rajan C Penkar, Woodbury, CT (US);
Assignee:
Unimation, Inc., Danbury, CT (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
318568 ; 318567 ; 318571 ; 901 20 ; 364513 ; 36416701 ;
Abstract
A digital robot control is provided with digital position, velocity and torque control looping to operate joint motors associated with multiple axes of the robot. Motion programming includes planning and trajectory programs for generating position commands for the control looping on the basis of acceleration, slew and deceleration values that specify robot program specifications for timed moves.