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. 01, 1992
Filed:
Jan. 31, 1989
Applicant:
Inventors:
Kenneth E Daggett, Murrysville, PA (US);
Eimei M Onaga, Blawnox, PA (US);
Assignee:
Staubli International Ag, , CH;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J / ;
U.S. Cl.
CPC ...
31856811 ;
Abstract
Workpoint torque control is employed in an electron multiaxis robot controller. Robot axis torque is determined from axis motor current feedback. Axis torque requests are based on torque command and torque feedback in an axis torque control mode or on the basis of position, velocity and torque commands and position, velocity and torque feedback in a combined position/torque control mode, or an indirect torque control mode.