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:
Dec. 18, 2012
Filed:
Oct. 29, 2008
Sam Johnson, Loveland, CO (US);
Taylor Drew Ritchie, Fort Collins, CO (US);
Gerald Vincent Castillo, Jr., Fort Collins, CO (US);
Eric D. Schroder, Loveland, CO (US);
Eric James Versluys, Louisville, CO (US);
Sam Johnson, Loveland, CO (US);
Taylor Drew Ritchie, Fort Collins, CO (US);
Gerald Vincent Castillo, Jr., Fort Collins, CO (US);
Eric D. Schroder, Loveland, CO (US);
Eric James Versluys, Louisville, CO (US);
S.A. Robotics, Loveland, CO (US);
Abstract
In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.