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Speed-controlled servo-assisted steering apparatus
382
New patents
4412161
4413314 INDUSTRIAL PROCESS CONTROL SYSTEM Billy Slater, Dennis Simpson, Clarence T Carroll assigned to Forney Engineering Company
DIGITAL
CONTROL CIRCUIT
OF SERVO
David T Cornaby Cot assigned to Iomega Corporatiot
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I___"L_ I 1117dL F.e,--" ! eg$|
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An industrial process control system in accordance with the present invention includes a plurality of device controllers connected together through a common buss with each device controller connected to an associated controlled device(s) that effect process control. A computer-aided system interface for controlling the overall system includes a visual display device in the form of a multi-color CRT and a graphic input device in the form of a transparent touch-responsive panel that overlies the CRT display screen. Computer generated symbols representing the controlled devices are displayed on the CRT screen to define touch-responsive target areas. When an appropriate target area is touched by a human operator, a signal, such as a command signal, is generated to cause the controlled device whose symbol is displayed in the designated target area to respond, with this response being then indicated by a change in the device symbol being displayed on the screen. Other features include generation of a hit display to indicate the last coordinates on the display screen touched by the operator, a two-step execute command sequence for entering high priority commands into the system, and the changing of analog set point values as a function of the time that a selected target area is touched. The system advantageously eliminates some, if not all, input through a conventional keyboard so that the system operator interfaces with the system through easily comprehended and nonambiguous visual symbols.
I-....-~
Digital signal processing means useful in control of servo loops is disclosed. The servo loop is designed to interface with a microprocessor controlling the loop. In a preferred embodiment, in which the servo loop controls the motion of a read/write head with respect to a magnetic disk, plural previous control signals and output response signals are recursively summed to generate each next position signal. Coefficients for weighting the previous control and response signals are stored in a read only memory accessed by portions of the control and response signals.
4408673 SPEED-CONTROLLED SERVOASSISTED STEERING APPARATUS Heinz Leiber, Leimen, Federal Republic Of Germany assigned to Robert Bosch GmbH
A servo-assisted power steering means is proposed in which one of the two track rod joints of the steered wheels is embodied as a linear force transducer. An electric or electronic switch is disposed in the tie rod or in the steering knuckle assembly and furnishes switching signals to an electric or electronic control device. These
New patents
signals are then processed and supplied to a servo apparatus in order to reinforce the movement of the tie rod initiated by the driver via the steering wheel. The control device is part of a brake anti-lock apparatus, wherein the data pertaining to velocity which are required there are also used in the power steering in such a manner that the auxiliary force is switched on only in a low vehicle velocity range, so as to serve, for example, as an aid in parking of the motor vehicle.
MULTI-ARM ROBOT Lanson Shum assigned to Westinghouse Electric Corp An automatic robot structure includes a fixed location support 10 which carries three locational arms 12, 14, 16, being hingedly connected to each other at their location of convergence to support a workhead 20, the driving motors 12a, 14a, and 16a each being independently operable to drive its respective arm in an axial direction, each of the arms being rigid in the sense that no part of the arm is hingedly connected to another part, so that the forces derived from a payload weight subject the arms primarily only to compression and or tension.
4399718 PIVOT DRIVE FOR MANIPULATOR Ernst Zimmer, Friedberg, Federal Republic Of Germany assigned to Kuka Schweissanlagen & Roboter GmbH 3~ 9
trains having output gears at least one of which is limitedly rotatable about the pivot axis on the other member. This one output gear can be limitedly rotated and locked in place in the other member so as torsionally to prestress the rod, thereby eliminating play from the drive by bringing the gears of one of the gear trains into snug contact in one direction and the gears of the other gear train into snug contact in the opposite directions.
4398228
4407625
d8
383
METHOD OF AVOIDING RESONANCE IN SERVO CONTROLLED APPARATUS Randall Bauck assigned to Iomega Corporation
An improved disk drive for storage of digital data is disclosed featuring a servo circuit used to drive the read/write head back and forth with respect to the media, the motion of the head being controlled by a servo circuit reading position signal data from the disk. The position data is stored in a sample and hold circuit having a transfer function dropping to a minimum value at the sampling rate; by choosing the resonant frequency of the head and servo apparatus assembly to be substantially equal to the sampling frequency, the mechanical resonance appearing in the system is effectively damped out.
3~ ~mlmm~JI
.49
4396987 MACHINE TOOL AND ROBOT CONTROL APPARATUS ;J ~
UL!
5
A pivot drive for interconnecting a pair of memI~rs that are relatively pivotal about a pivot axis has a torsion rod extending along a rod axis and rotatable by an appropriate drive relative to one of the members. This rod has outer ends carrying input gears of respective constant-mesh gear
Hajimu Inaba, Hideo Miyashita, Shinsuke Sakakibara, Atsushi Watanabe, Hino, Japan assigned to Fanuc Ltd A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial
New patents
4412161
4413314 INDUSTRIAL PROCESS CONTROL SYSTEM Billy Slater, Dennis Simpson, Clarence T Carroll assigned to Forney Engineering Company
DIGITAL
CONTROL CIRCUIT
OF SERVO
David T Cornaby Cot assigned to Iomega Corporatiot
-I tl tt fl-z
I___"L_ I 1117dL F.e,--" ! eg$|
.iI'~jl i i i ~ i ~tl v
~ -~
,,. t-.--., I ol I~
An industrial process control system in accordance with the present invention includes a plurality of device controllers connected together through a common buss with each device controller connected to an associated controlled device(s) that effect process control. A computer-aided system interface for controlling the overall system includes a visual display device in the form of a multi-color CRT and a graphic input device in the form of a transparent touch-responsive panel that overlies the CRT display screen. Computer generated symbols representing the controlled devices are displayed on the CRT screen to define touch-responsive target areas. When an appropriate target area is touched by a human operator, a signal, such as a command signal, is generated to cause the controlled device whose symbol is displayed in the designated target area to respond, with this response being then indicated by a change in the device symbol being displayed on the screen. Other features include generation of a hit display to indicate the last coordinates on the display screen touched by the operator, a two-step execute command sequence for entering high priority commands into the system, and the changing of analog set point values as a function of the time that a selected target area is touched. The system advantageously eliminates some, if not all, input through a conventional keyboard so that the system operator interfaces with the system through easily comprehended and nonambiguous visual symbols.
I-....-~
Digital signal processing means useful in control of servo loops is disclosed. The servo loop is designed to interface with a microprocessor controlling the loop. In a preferred embodiment, in which the servo loop controls the motion of a read/write head with respect to a magnetic disk, plural previous control signals and output response signals are recursively summed to generate each next position signal. Coefficients for weighting the previous control and response signals are stored in a read only memory accessed by portions of the control and response signals.
4408673 SPEED-CONTROLLED SERVOASSISTED STEERING APPARATUS Heinz Leiber, Leimen, Federal Republic Of Germany assigned to Robert Bosch GmbH
A servo-assisted power steering means is proposed in which one of the two track rod joints of the steered wheels is embodied as a linear force transducer. An electric or electronic switch is disposed in the tie rod or in the steering knuckle assembly and furnishes switching signals to an electric or electronic control device. These
New patents
signals are then processed and supplied to a servo apparatus in order to reinforce the movement of the tie rod initiated by the driver via the steering wheel. The control device is part of a brake anti-lock apparatus, wherein the data pertaining to velocity which are required there are also used in the power steering in such a manner that the auxiliary force is switched on only in a low vehicle velocity range, so as to serve, for example, as an aid in parking of the motor vehicle.
MULTI-ARM ROBOT Lanson Shum assigned to Westinghouse Electric Corp An automatic robot structure includes a fixed location support 10 which carries three locational arms 12, 14, 16, being hingedly connected to each other at their location of convergence to support a workhead 20, the driving motors 12a, 14a, and 16a each being independently operable to drive its respective arm in an axial direction, each of the arms being rigid in the sense that no part of the arm is hingedly connected to another part, so that the forces derived from a payload weight subject the arms primarily only to compression and or tension.
4399718 PIVOT DRIVE FOR MANIPULATOR Ernst Zimmer, Friedberg, Federal Republic Of Germany assigned to Kuka Schweissanlagen & Roboter GmbH 3~ 9
trains having output gears at least one of which is limitedly rotatable about the pivot axis on the other member. This one output gear can be limitedly rotated and locked in place in the other member so as torsionally to prestress the rod, thereby eliminating play from the drive by bringing the gears of one of the gear trains into snug contact in one direction and the gears of the other gear train into snug contact in the opposite directions.
4398228
4407625
d8
383
METHOD OF AVOIDING RESONANCE IN SERVO CONTROLLED APPARATUS Randall Bauck assigned to Iomega Corporation
An improved disk drive for storage of digital data is disclosed featuring a servo circuit used to drive the read/write head back and forth with respect to the media, the motion of the head being controlled by a servo circuit reading position signal data from the disk. The position data is stored in a sample and hold circuit having a transfer function dropping to a minimum value at the sampling rate; by choosing the resonant frequency of the head and servo apparatus assembly to be substantially equal to the sampling frequency, the mechanical resonance appearing in the system is effectively damped out.
3~ ~mlmm~JI
.49
4396987 MACHINE TOOL AND ROBOT CONTROL APPARATUS ;J ~
UL!
5
A pivot drive for interconnecting a pair of memI~rs that are relatively pivotal about a pivot axis has a torsion rod extending along a rod axis and rotatable by an appropriate drive relative to one of the members. This rod has outer ends carrying input gears of respective constant-mesh gear
Hajimu Inaba, Hideo Miyashita, Shinsuke Sakakibara, Atsushi Watanabe, Hino, Japan assigned to Fanuc Ltd A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial