Holding arrangement having a device for actively damping vibration

A method for determining a current control curve for adjusting an equilibrium state in a holding arrangement which includes:

• at least one rotational joint which is subjected to a load torque by said instrument;
• and, an apparatus for balancing said load torque applied to said rotational joint;
• said apparatus including:
• an electric motor;
• a detecting unit for detecting a position of said rotational joint and for providing a signal representing a position value for said position of said rotational joint;
• said electric motor being combined with said detecting unit;
• a control unit for receiving said signal and assigning a motor current to said position value;
• said control unit outputting said motor current to said electric motor so as to cause said electric motor to generate a counter torque to balance said load torque applied to said rotational joint;
• a device for actively damping vibrations and said device including:
• a sensor for detecting a vibration of said holding arrangement and for generating a control quantity;
• and, a vibration damping control loop connected to said sensor for receiving said control quantity to generate a superposition motor current as an actuating quantity and supplying said actuating quantity to said electric motor to move said rotational joint via said electric motor so as to counter said vibration;
• the method comprising the steps of:
• rotating said rotational joint about said rotational axis thereof utilizing said electric motor;
• determining the current demand of said electric motor required to effect the movement of said rotational joint about said rotational axis;
• determining the instantaneous position of said rotational joint;
• and,
• storing said current demand as a current control curve in an electronic memory as a function of the position of said rotational joint.

A method for adjusting an equilibrium state in a holding arrangement which includes:

• at least one rotational joint which is subjected to a load torque by said instrument;
• and, an apparatus for balancing said load torque applied to said rotational joint;
• said apparatus including:
• an electric motor;
• a detecting unit for detecting a position of said rotational joint and for providing a signal representing a position value for said position of said rotational joint;
• said electric motor being combined with said detecting unit;
• a control unit for receiving said signal and assigning a motor current to said position value;
• said control unit outputting said motor current to said electric motor so as to cause said electric motor to generate a counter torque to balance said load torque applied to said rotational joint;
• a device for actively damping vibrations and said device including:
• a sensor for detecting a vibration of said holding arrangement and for generating a control quantity;
• and, a vibration damping control loop connected to said sensor for receiving said control quantity to generate a superposition motor current as an actuating quantity and supplying said actuating quantity to said electric motor to move said rotational joint via said electric motor so as to counter said vibration;
• the method comprising the steps of:
• determining an instantaneous position of said rotational joint;
• and,
• supplying current to said electric motor in correspondence to a current control curve stored in a memory with said current control curve assigning a current value for torque compensation to said instantaneous position of said rotational joint.

A method for determining a current control curve for adjusting a state of equilibrium in a holding arrangement which includes:

• at least one rotational joint which is subjected to a load torque by said instrument;
• and, an apparatus for balancing said load torque applied to said rotational joint;
• said apparatus including:
• an electric motor;
• a detecting unit for detecting a position of said rotational joint and for providing a signal representing a position value for said position of said rotational joint;
• and, said electric motor being combined with said detecting unit;
• a control unit for receiving said signal and assigning a motor current to said position value;
• said control unit outputting said motor current to said electric motor so as to cause said electric motor to generate a counter torque to balance said load torque applied to said rotational joint;
• a device for actively damping vibrations and said device including:
• a sensor for detecting a vibration of said holding arrangement and for generating a control quantity;
• and, a vibration damping control loop connected to said sensor for receiving said control quantity to generate a superposition motor current as an actuating quantity and supplying said actuating quantity to said electric motor to move said rotational joint via said electric motor so as to counter said vibration;
• said rotational joint being a first rotational joint and said apparatus being a first apparatus;
• a second rotational joint and a second apparatus for balancing a second load torque caused by said instrument and applied to said second rotational joint;
• said electric motor of said first apparatus being a first electric motor and said second apparatus including a second electric motor;
• the method comprising the steps of:
• detecting the position of said first rotational joint;
• with the position of said first rotational joint known, moving said second rotational joint about its axis utilizing said second electric motor;
• determining the current demand of said second electric motor needed to move said second rotational joint;
• determining the instantaneous position of said second rotational joint;
• storing the current demand in dependence upon the position of said second rotational joint as a first current control curve in an electronic memory;
• thereafter, and for the known position of said second rotational joint, moving said first rotational joint about its axis utilizing said first electric motor;
• determining the current demand of said first electric motor needed for the movement of said first rotational joint;
• determining the instantaneous position of said first rotational joint;
• and,
• storing the determined current demand in dependence upon the position of said first rotational joint in said electronic memory as a second current control curve.

A method for adjusting a state of equilibrium in a holding arrangement which includes:

• at least one rotational joint which is subjected to a load torque by said instrument;
• and, an apparatus for balancing said load torque applied to said rotational joint;
• said apparatus including:
• an electric motor;
• a detecting unit for detecting a position of said rotational joint and for providing a signal representing a position value for said position of said rotational joint;
• and, said electric motor being combined with said detecting unit;
• a control unit for receiving said signal and assigning a motor current to said position value;
• said control unit outputting said motor current to said electric motor so as to cause said electric motor to generate a counter torque to balance said load torque applied to said rotational joint;
• a device for actively damping vibrations and said device including:
• a sensor for detecting a vibration of said holding arrangement and for generating a control quantity;
• and, a vibration damping control loop connected to said sensor for receiving said control quantity to generate a superposition motor current as an actuating quantity and supplying said actuating quantity to said electric motor to move said rotational joint via said electric motor so as to counter said vibration;
• said rotational joint being a first rotational joint and said apparatus being a first apparatus;
• a second rotational joint and a second apparatus for balancing a second load torque caused by said instrument and applied to said second rotational joint;
• said electric motor of said first apparatus being a first electric motor and said second apparatus including a second electric motor;
• the method comprising the steps of:
• determining an instantaneous position of said first rotational joint;
• determining an instantaneous position of said second rotational joint;
• supplying current to said first electric motor and said second electric motor in correspondence to a current control curve stored in a memory;
• and,
• wherein said current control curve assigns each of said first and second electric motors a current value for torque compensation in correspondence to the respective ones of said instantaneous positions.