Abstract: A computer system for use in reducing overall pipeline inventory within a distribution network that includes a central warehouse that is: (1) adjacent a transportation hub; and (2) configured to store sufficient component parts to provide a regular stream of parts to each of a plurality of manufacturing facilities. The computer system is preferably configured for coordinating the transportation of a regular stream of parts to each of the manufacturing facilities by transporting component parts from the central warehouse to the manufacturing facilities primarily via an expedited delivery service performed using the transportation hub. The expedited delivery service may include, for example, guaranteed delivery within one or two days. This reduces the overall pipeline and warehouse inventory within the distribution network by reducing the average transit time for each part, and by reducing the amount of safety stock that is needed to support the operations of the manufacturing facilities.

Abstract: A computer system for use in reducing overall pipeline inventory within a distribution network that includes a central warehouse that is: (1) adjacent a transportation hub; and (2) configured to store sufficient component parts to provide a regular stream of parts to each of a plurality of manufacturing facilities. The computer system is preferably configured for coordinating the transportation of a regular stream of parts to each of the manufacturing facilities by transporting component parts from the central warehouse to the manufacturing facilities primarily via an expedited delivery service performed using the transportation hub. The expedited delivery service may include, for example, guaranteed delivery within one or two days. This reduces the overall pipeline and warehouse inventory within the distribution network by reducing the average transit time for each part, and by reducing the amount of safety stock that is needed to support the operations of the manufacturing facilities.

Abstract: A computer system for use in reducing overall pipeline inventory within a distribution network that includes a central warehouse that is: (1) adjacent a transportation hub; and (2) configured to store sufficient component parts to provide a regular stream of parts to each of a plurality of manufacturing facilities. The computer system is preferably configured for coordinating the transportation of a regular stream of parts to each of the manufacturing facilities by transporting component parts from the central warehouse to the manufacturing facilities primarily via an expedited delivery service performed using the transportation hub. The expedited delivery service may include, for example, guaranteed delivery within one or two days. This reduces the overall pipeline and warehouse inventory within the distribution network by reducing the average transit time for each part, and by reducing the amount of safety stock that is needed to support the operations of the manufacturing facilities.

Abstract: A digital control provides adaptive feedforward torque control for a robot having a plurality of arm joints. An electric motor drives each of the robot arm joints and a power amplifier supplies drive current to each motor under controlled operation.Each joint motor has feedback control loop means including position and velocity control loops driving a torque control loop in accordance with position commands to generate motor commands for controlling the associated power amplifier. The motion of said joint motor generates position and velocity feedback signals respectively for combination with the position and velocity commands to generate an error signal as a torque command for each of the torque control loops from the corresponding position and velocity control loops. Load force is sensed at the endmost robot joint.

Abstract: A digital robot control employs planning and trajectory programs which generate the trajectory plan and trajectory position commands with the use of an acceleration profile and a deceleration profile selected from at least square wave and sine wave profiles.

Abstract: A coordinate conversion system is provided for moving the manipulator arm and hand in repsonse to an input command signal of the 3.times.4 matrix type. The manipulator is provided with a fixed offset between two of the secondary wrist axes so that a stronger wrist configuration is provided which can handle heavier payloads.

Abstract: A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microprocessors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque commands and the current feedback signals.

Abstract: A digital robot control is provided with digital position, velocity and torque control looping to operate joint motors associated with multiple axes of the robot. Motion programming includes planning and trajectory programs for generating position commands for the control looping on the basis of acceleration, slew and deceleration values that specify robot program specifications for timed moves.

Abstract: A digital control for a robot having a plurality of arm joints includes an electric motor for driving each of the robot arm joints and a power amplifier operable to supply drive current to each motor. Pulse width modulators generate digital control signals for the power amplifiers.Feedback control loop means for each joint motor includes at least position, velocity and torque control loops operable to control the associated power amplifier. Motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes.A position/velocity microprocessor control executes a planning program to generate a time profile including acceleration, slew and deceleration time segments for implementing each commanded robot program move.

Abstract: A digital control is provided for a robot having a plurality of arm joints. The control includes an electric motor for driving each of the robot arm joints and a power amplifier supplies drive current to each motor.Each joint motor has feedback control loop means including at least digital position, velocity and torque control loops operable at a predetermined sampling rate to control the associated power amplifier. Digital motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes.Paired system microprocessors or paired position/velocity microprocessors generate position commands for the feedback control loop means in accordance with predefined moves set forth in a robot program. A planning program generates a time profile including acceleration, slew and deceleration time segments for each commanded robot program move.