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Accurate Velocity Digital Position Feedback System for Robotics and Tool Control

IP.com Disclosure Number: IPCOM000057545D
Original Publication Date: 1988-May-01
Included in the Prior Art Database: 2005-Feb-15

Publishing Venue

IBM

Related People

Authors:
Alewine, NJ Boyd, JM Floyd, RE Mahlbacher, JC McCrary, RC [+details]

Abstract

A technique is described whereby an improved digital positioning feedback system provides an accurate method of controlling the velocity in robotic manipulators. The concept is an improvement to previously used digital feedback control systems, which were an improvement over analog systems, to control the velocity of the manipulators. In the control of tool or robotic manipulators, it is often required to utilize the motor shaft velocity in the control of the motor which drives a robotic manipulator. A tachometer along with analog circuitry has been a way of providing the control. However, cabling required between the controller and the motor were often affected by electrical noise, causing questionable accuracy and costly operation. As a result, digital position feedback was introduced.