ROBOTIC MANIPULATOR ARM

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 m...

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Bibliographic Details
Main Authors CASTILLO, JR. GERALD V, VERSLUYS ERIC J, RITCHIE TAYLOR D, SCHRODER ERIC D, JOHNSON SAM
Format Patent
LanguageEnglish
Published 29.04.2010
Subjects
BLASTING
BRAKES
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CLUTCHES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
COUPLINGS FOR TRANSMITTING ROTATION
ENGINEERING ELEMENTS AND UNITS
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
GEARING
GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS
HAND TOOLS
HEATING
LIGHTING
MANIPULATORS
MECHANICAL ENGINEERING
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
THERMAL INSULATION IN GENERAL
TRANSPORTING
WEAPONS
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Summary: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.
Bibliography:Application Number: US20080260895