Patents by Inventor Timothy P. Skewis

Timothy P. Skewis has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Multiaxis robot control having curve fitted path control
    Patent number: 4773025
    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.
    Type: Grant
    Filed: November 20, 1986
    Date of Patent: September 20, 1988
    Assignee: Unimation, Inc.
    Inventors: Rajan C. Penkar, Timothy P. Skewis