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:
Jun. 27, 1989
Filed:
Feb. 25, 1999
Yutaka Ono, Tokyo, JP;
Yayoi Tsuchiya, Tokyo, JP;
Yutaka Koizumi, Tokyo, JP;
Hitoshi Morimoto, Tokyo, JP;
Hideo Banzai, Tokyo, JP;
Yasuhiko Muramatsu, Tokyo, JP;
Syotoro Shindo, Tokyo, JP;
Toshihiro Kanehara, Tokyo, JP;
Norihiko Hatano, Tokyo, JP;
Susumu Ohta, Tokyo, JP;
Mitsuhiro Nikaido, Tokyo, JP;
Yokogawa Electric Corporation, Tokyo, JP;
Abstract
A direct drive motor system for controlling driving of the joints of a multi-jointed robot, comprising a motor portion, a rotation detecting portion, a position control portion, a speed control portion, a driving circuit and a tuning portion, wherein the motor portion is of an inductor type, the rotation detection portion uses an optical rotary encoder or magnetic resolver, and the position control portion is arranged to control in a feedback manner the rotational position of the motor with a tertiary servo system with software. The system's driving circuit has a feedback control loop for the current of the motor coil, and a detection circuit for the current includes a small signal isolator. The tuning portion tunes the servo systems of the speed control portion and the position control portion. As a result, the system simultaneously satisfies various requirements of such a direct drive motor.