Stepper Motor Control Systems and Methods for Actuators
US-2024388228-A1 · Nov 21, 2024 · US
Robotic joint
US9827668B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9827668-B2 |
| Application number | US-201615130696-A |
| Country | US |
| Kind code | B2 |
| Filing date | Apr 15, 2016 |
| Priority date | Apr 15, 2016 |
| Publication date | Nov 28, 2017 |
| Grant date | Nov 28, 2017 |
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- Title
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- Abstract
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- Assignees and inventors
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- First independent claim
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- CPC / IPC classifications
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- Citations and related patents
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Abstract
Official abstract text for this publication.
A joint includes: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor.
First claim
Opening claim text (preview).
We claim: 1. A joint comprising: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor, wherein the controller assigns greater weight to the position measured by the joint side sensor relative to the position measured by the motor side sensor. 2. A joint comprising: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor, wherein the controller assigns greater weight to the velocity measured by the motor side sensor relative to the velocity measured by the joint side sensor. 3. A joint comprising: a motor coupled to the joint, the motor configured to move the joint, wherein the motor comprises a brushless direct current (DC) motor, wherein the motor drives a hollow motor side drive shaft via a motor side drive pulley that is operably connected to the motor side drive shaft; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor; and a motor side target that is operably connected to the motor, the motor side target being mounted to a motor side target pulley, wherein the motor side target pulley is configured to bring the motor side target into detection range of the motor side sensor. 4. A joint comprising: a motor coupled to the joint, the motor configured to move the joint, wherein the motor comprises a brushless direct current (DC) motor, wherein the motor drives a hollow motor side drive shaft via a motor side drive pulley that is operably connected to the motor side drive shaft; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor; and a motor side target that is operably connected to the motor, the motor side target being mounted to a motor side target pulley, wherein the motor side target pulley is configured to align the motor side target with the motor side sensor. 5. A joint comprising: a motor coupled to the joint, the motor configured to move the joint, wherein the motor comprises a brushless direct current (DC) motor, wherein the motor drives a hollow motor side drive shaft via a motor side drive pulley that is operably connected to the motor side drive shaft; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor; and a motor side target that is operably connected to the motor, the motor side target being mounted to a motor side target pulley, wherein the motor side target pulley is coupled to the motor side drive shaft through a motor side pulley belt. 6. A joint comprising: a motor coupled to the joint, the motor configured to move the joint, wherein the motor comprises a brushless direct current (DC) motor, wherein the motor drives a hollow motor side drive shaft via a motor side drive pulley that is operably connected to the motor side drive shaft; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor; and a motor side target that is operably connected to the motor, the motor side target being mounted to a motor side target pulley, wherein the motor side target pulley is coupled to the motor side drive shaft through a motor side pulley belt, wherein the motor side sensor is located on an axis that does not comprise a central axis of the joint. 7. A joint comprising: a motor coupled to the joint, the motor configured to move the joint, wherein the motor comprises a brushless direct current (DC) motor, wherein the motor drives a hollow motor side drive shaft via a motor side drive pulley that is operably connected to the motor side drive shaft; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the parameter of interest comprises one of more of a position of the robotic joint, a velocity of the robotic joint, an acceleration of the robotic joint, and another parameter of interest; a motor side sensor configured to measure the parameter of interest of the motor, wherein the motor side sensor is located on an axis that does not comprise a central axis of the joint; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor; and a motor side target that is operably connected to the motor, the motor side target being mounted to a motor side target pulley, wherein the motor side target pulley is coupled to the motor side drive shaft through a motor side pulley belt, wherein the motor side sensor is located on an axis that does not comprise a central axis of the joint, wherein a joint side drive pulley drives the joint side pulley belt. 8. A joint comprising: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target, wherein the joint side target is mounted to a joint side target pulley; a motor side sensor configured to measure the parameter of interest of the motor; an
Assignees
Inventors
Classifications
Two measurements, on driving motor and on slide or on both sides of motor · CPC title
Devices for sensing speed or position, or actuated thereby (specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14) · CPC title
- B25J9/126Primary
Rotary actuators · CPC title
Joints · CPC title
with cables, chains or ribbons · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US9827668B2 cover?
- A joint includes: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably con…
- Who is the assignee on this patent?
- Fetch Robotics Inc
- What technology area does this patent fall under?
- Primary CPC classification B25J9/126. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Nov 28 2017 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).