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:
Apr. 17, 2001
Filed:
Jan. 19, 1999
James L. Ries, Boulder, CO (US);
Terry L. Lane, Longmont, CO (US);
Storage Technology Corporation, Louisville, CO (US);
Abstract
A system and method of adaptively engaging cartridges stored in an automated cartridge library are provided. Upon receiving a request to extend a reach mechanism of a robot arm to engage a cartridge stored in a selected cell, a library controller initiates a move profile to extend the reach mechanism from a starting position toward the cartridge. The move profile comprises a set of commanded positions and corresponding commanded velocities. A motor controller in communication with the library controller compares a sensed position of the reach mechanism, provided by a position feedback sensor associated with a reach motor, with the commanded position to determine a position error. The motor controller maintains the move profile until the position error exceeds an error threshold, indicating engagement of the cartridge by the reach mechanism. The move profile is then terminated to obtain a final position of the reach mechanism, where the final position reflects a specific depth of the selected cell from the robot arm.