A direct drive robot which includes a pedestal having two motors which rotate around a common axis to directly drive rotation of first and of second linking arms which are rotating in a plane perpendicular to this pedestal. The first, inner link is preferably driven through a column directly driven by a first motor rotor, the column supporting the inner end of the link. The second, outer link is driven by the second coaxial direct drive motor through a simple, highly-tensioned belt and pulley arrangement. As a result of this direct drive arrangement, movement is provided about two separate parallel axes by two arms arranged perpendicular to the first axis which mounts the two major driving motors of the robot. These two arms are linked together between this major pedestal and the end effector of the robot, centralizing the driving motors at the main stabilizing pedestal, while providing rapid rotational movement around each of the two axes. The first axis is defined by the major pedestal, the second axis is defined by the junction between the inner and outer linking arms which connect the pedestal to the end effector.

Direct drive robotic system

A robot control apparatus stores the result of operation on the inertia term of an equation of motion depending upon the position of the robot arm, so that the operation period on the inertia term is set longer than the operation period on the drive torque. In controlling the robot with the same precision, therefore, the drive torque can be calculated in a short period of operation time.

Robot control apparatus

https://ntrs.nasa.gov/api/citations/20080004132/downloads/20080004132.pdf

High level language-based robotic control system

A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction. Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate. Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microproces­sors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque com­mands and the current feedback signals. Pulse width modulators generate digital motor control signals for each of the robot axes at the sampling rate in response to the voltage commands. The digital control signals for each axis are coupled to control terminals of the corresponding power switches to control on/off switch time and satisfy the motor voltage commands and thereby satisfy the position commands.

Modular robot control system

A power system is provided for robotic systems such as dynamically balancing robots, including inverted pendulum robots, robots that balance on two legs, and dynamically balancing robotic personal vehicles. Under normal operation, the power system provides operating power from a power source such as an internal battery system or an external AC power supply. The power system includes an energy storage device, such as an ultracapacitor assembly, that can provide emergency power sufficient to power components of the robotic system to a stable shutdown configuration in the event of a deleterious power event.

Self-balancing robot including an ultracapacitor power source

The invention concerns a kinematic system of an industrial robot and a sequential control system of its operating cycle. The robot comprises a vertical spindle supporting a main rotating arm and a forearm fixed to a gripping component. A first vertical transfer jack is provided at the end of the forearm. Arms are mounted via bearings on a loose spindle in a link and can swivel, driven by servo-motors in a horizontal plane so as to form a kinematic system functioning in cylindrical coordinates. The servo-motors are programmed to drive the gripping component through a linear trajectory at the beginning of the cycle. A releasable couping system with memory device is provided for the tool-holder. The controller control system is arranged to ensure the transitory readjustment of each arm to a starting position.

Industrial robot governed by a programmable controller

L'invention concerne le systeme cinematique d'un robot industriel et son dispositif de commande sequentielle du cycle. The invention relates to the kinematic system of an industrial robot and its sequential control device cycle. Le robot comporte un axe (28) vertical de support d'un bras (26) principal rotatif, et un avant-bras (34) solidaire de l'organe prehenseur (45). The robot has an axis (28) vertical support an arm (26) rotating main, and a forearm (34) integral with the gripper (45). Un premier verin (40) de transfert vertical est agence a l'extremite de l'avant-bras (34). A first cylinder (40) of vertical transfer is arranged at the end of the forearm (34). Les bras (26, 34) montes par l'intermediaire de roulements sur un axe (64) fou d'une liaison (36) sont actionnes a pivotement par des servomoteurs M I , M 2 dans un plan horizontal de maniere a former un systeme cinematique travaillant en coordonnees cylindriques. The arms (26, 34) mounted by means of bearings on a shaft (64) mad of a link (36) are actuated pivotally by servomotors M I, M 2 in a horizontal plane so as to form a system kinematic working in cylindrical coordinates. Les servomoteurs sont programmes pour entrainer l'organe prehenseur selon une trajectoire lineaire au debut du cycle. The actuators are programmed to cause the gripper member along a linear path at the beginning of the cycle. Un dispositif de liaison (100) debrayable a memoire est associe au porte-outil (43). A connecting device (100) detachable memory is associated with the tool holder (43). Le dispositif de commande de l'automate est agence pour assurer le recalage transitoire de chaque bras (26, 34) vers une position initiale. The PLC controller is arranged to ensure the transient of resetting each arm (26, 34) toward an initial position. Application: Operations de post-moulage dans l'industrie de transformation des plastiques. Application: post-molding operations in the plastics processing industry.

Programme-controlled industrial robot

L'INVENTION CONCERNE LE SYSTEME CINEMATIQUE D'UN ROBOT INDUSTRIEL ET SON DISPOSITIF DE COMMANDE SEQUENTIELLE DU CYCLE. LE ROBOT COMPORTE UN AXE 28 VERTICAL DE SUPPORT D'UN BRAS 26 PRINCIPAL ROTATIF, ET UN AVANT-BRAS 34 SOLIDAIRE DE L'ORGANE PREHENSEUR 45. UN PREMIER VERIN 40 DE TRANSFERT VERTICAL EST AGENCE A L'EXTREMITE DE L'AVANT-BRAS 34. LES BRAS 26, 34 MONTES PAR L'INTERMEDIAIRE DE ROULEMENTS SUR UN AXE 64 FOU D'UNE LIAISON 36 SONT ACTIONNES A PIVOTEMENT PAR DES SERVOMOTEURS M, M DANS UN PLAN HORIZONTAL DE MANIERE A FORMER UN SYSTEME CINEMATIQUE TRAVAILLANT EN COORDONNEES CYLINDRIQUES. LES SERVOMOTEURS SONT PROGRAMMES POUR ENTRAINER L'ORGANE PREHENSEUR SELON UNE TRAJECTOIRE LINEAIRE AU DEBUT DU CYCLE. UN DISPOSITIF DE LIAISON 100 DEBRAYABLE A MEMOIRE EST ASSOCIE AU PORTE-OUTIL 43. LE DISPOSITIF DE COMMANDE DE L'AUTOMATE EST AGENCE POUR ASSURER LE RECALAGE TRANSITOIRE DE CHAQUE BRAS 26, 34 VERS UNE POSITION INITIALE. APPLICATION: OPERATIONS DE POST-MOULAGE DANS L'INDUSTRIE DE TRANSFORMATION DES PLASTIQUES.

Jean-Pierre Poncet

Papers

Industrial robot governed by a programmable controller

Programme-controlled industrial robot

Robot industriel perfectionne pilote par un automate programmable