INTEGRATED HIGH-SPEED TORQUE CONTROL SYSTEM FOR ROBOTIC JOINT

PROBLEM TO BE SOLVED: To provide a control system of a robotic joint capable of achieving the high-speed torque and strong against noise. SOLUTION: The control system for achieving the high-speed torque for the robotic joint includes a printed circuit board assembly (PCBA) 30 having a collocated joint processor and a high-speed communication bus. The PCBA may also include a power inverter module (PIM) 34, and local sensor conditioning electronics (SCE) 36 for processing the sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be built in or collocated with the robotic joint to be controlled. Collocation of the joint processor, the PIM, and the high-speed bus may increase noise immunity of the control system, and the localized processing of the sensor data from the joint motor 40 at the joint level may minimize the bus cabling to and from each control node. COPYRIGHT: (C)2011,JPO&INPIT