Abstract: The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.

Abstract: The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.

Abstract: A surgical robotic system includes a robotic arm and a setup arm, each having multiple joints. The arms may be set into a passive mode allowing for manual movement of each joint until an aligned configuration is achieved. Once each joint in a desired position, that joint is locked. An aligned configuration is achieved once all of the joints are in the desired position and are locked.

Abstract: The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.

Abstract: An electric drivetrain using a configurable power converter package is disclosed. The configurable design allows for the power converter to support the drivetrain needs of a product line of machines without having to design a new power converter for each application. The electric drivetrain includes a first power conversion stage comprising a first configurable power converter and a second power conversion stage comprising a second configurable power converter. The first and second configurable power converters are one of a plurality of power configurations of a configurable power converter package.

Abstract: An FSK modulator and applications thereof are disclosed. The FSK modulator comprises a phase-locked loop, a frequency divider module, an image rejection mixer and a summing module. The phase-locked loop is operably coupled to generate a first oscillation from a reference oscillation. The frequency divider module is operably coupled to divide the first oscillation to produce a second oscillation. The image-rejection mixer is operably coupled to mix the second oscillation with a low intermediate oscillation to produce a mixed data signal, and the summing module is operably coupled to sum the mixed data signal with the first oscillation to produce an FSK modulated signal.

Abstract: An FSK modulator and applications thereof are disclosed. The FSK modulator comprises a phase-locked loop, a frequency divider module, an image rejection mixer and a summing module. The phase-locked loop is operably coupled to generate a first oscillation from a reference oscillation. The frequency divider module is operably coupled to divide the first oscillation to produce a second oscillation. The image-rejection mixer is operably coupled to mix the second oscillation with a low intermediate oscillation to produce a mixed data signal, and the summing module is operably coupled to sum the mixed data signal with the first oscillation to produce an FSK modulated signal.

Abstract: An FSK modulator and applications thereof are disclosed. The FSK modulator comprises a phase-locked loop, a frequency divider module, an image rejection mixer and a summing module. The phase-locked loop is operably coupled to generate a first oscillation from a reference oscillation. The frequency divider module is operably coupled to divide the first oscillation to produce a second oscillation. The image-rejection mixer is operably coupled to mix the second oscillation with a low intermediate oscillation to produce a mixed data signal, and the summing module is operably coupled to sum the mixed data signal with the first oscillation to produce an FSK modulated signal.

Abstract: Multistage RF transmitter and receiver circuits may use independently variable RF and IF local oscillators, allowing the RF and IF local oscillator frequencies for a given RF channel to be selected to have a large common factor with respect to the reference oscillator used by the local oscillator circuits, thus allowing the use of small divisor numbers in the local oscillator circuits and reducing phase noise. Independent high-side and low-side RF local oscillators may be provided and selectively used depending on the RF channel to be transmitted or received.

Abstract: Multistage RF transmitter and receiver circuits may use independently variable RF and IF local oscillators, allowing the RF and IF local oscillator frequencies for a given RF channel to be selected to have a large common factor with respect to the reference oscillator used by the local oscillator circuits, thus allowing the use of small divisor numbers in the local oscillator circuits and reducing phase noise. Independent high-side and low-side RF local oscillators may be provided and selectively used depending on the RF channel to be transmitted or received.

Abstract: Multistage RF transmitter and receiver circuits may use independently variable RF and IF local oscillators, allowing the RF and IF local oscillator frequencies for a given RF channel to be selected to have a large common factor with respect to the reference oscillator used by the local oscillator circuits, thus allowing the use of small divisor numbers in the local oscillator circuits and reducing phase noise. Independent high-side and low-side RF local oscillators may be provided and selectively used depending on the RF channel to be transmitted or received.

Abstract: An FSK modulator and applications thereof are disclosed. The FSK modulator comprises a phase-locked loop, a frequency divider module, an image rejection mixer and a summing module. The phase-locked loop is operably coupled to generate a first oscillation from a reference oscillation. The frequency divider module is operably coupled to divide the first oscillation to produce a second oscillation. The image-rejection mixer is operably coupled to mix the second oscillation with a low intermediate oscillation to produce a mixed data signal, and the summing module is operably coupled to sum the mixed data signal with the first oscillation to produce an FSK modulated signal.

Abstract: An analyzer for performing high and low voltage tests on an electric induction machine having electric power input terminals.