Servo-Out Feedback Loop to Provide Spring Rate Effect for Robot Applications
Original Publication Date: 1988-Sep-01
Included in the Prior Art Database: 2005-Feb-15
The Servo-Out Feedback Loop allows the brake on the IBM 7575 (or 7576) Robot to be used with out turning the Z-axis servo motor off. This is the only method in which the robots can be used for applications where the applied force in the Z-axis direction exceeds 22 lbf (35 lbf for the 7576) and the Z-axis servo is left on. Attachment of TAB components requires equipment capable of applied forces in excess of 35 lbf. The IBM 7575 Robot is rated at 22 pounds of applied force. A strong motivation exists to use the IBM 7575 Robots because they meet all other TAB assembly requirements, such as speed, repeatability, availability and cost. When an upward force is applied to the Z-axis of the robot, a Z-axis position error is produced.