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US 4,535,405 AGranted
Control and force-sensing method and apparatus for motors
AssigneeMicrobot, Inc.
InventorsJohn W. Hill, Anthony J. Sword
Life of this patent
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AssigneeMicrobot, Inc.
InventorsJohn W. Hill, Anthony J. Sword
Estimating the term…
A method and apparatus for controlling a stepper motor and for force sensing and force control. Stepper motor drive waveforms are provided which are constructed of a sequence of stairsteps, the size and duration thereof being determined as a function of the desired rotational velocity of the stepper motor. Means and a method for accelerating the stepper motor by varying the step size and step duration of the stairsteps in the drive waveform are discussed. Additionally, means and a method are discussed for sensing and controlling the force applied by the stepper motor to a load by way of evaluating the displacement of the actual position of the stepper motor shaft from the commanded or desired position of the shaft. Means and a method for implementing a compliant function in a similar manner are described.
A method of measuring a torque being applied by the shaft of a brushless motor to a load which is driven by the shaft of the brushless motor, comprising the steps of
A method of measuring a torque being applied by a shaft of a brushless motor to a load which is driven by the shaft of the brushless motor, wherein the brushless motor has been calibrated for angular displacement versus magnitude of applied load to form a calibration table, the method comprising the steps of
Dependencies are inferred from the claim text.