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261results about How to "To overcome the large delay" patented technology

Delta-sigma A/D converter

A delta-sigma modulator comprising a first quantizer providing a first digital signal d0(k) representing the input signal g(t); a loop filter with input signal paths; a loop quantizer providing a corrective digital signal d1(k) representing the loop filter's output signal y(t); an array of feedback DACs D/A converting the sum d(k)=df(k)=d0(k)+d1(k) of the first and the corrective digital signals and injecting feedback signals into the loop filter.The loop filter's input node is applied the difference of the input signal g(t) and the global analog feedback signal a3(t). The global feedback signal a3(t) is delayed several clock cycles with respect to the digital output signal d(k). The delay is used to carry out mismatch-shaping and deglitching algorithms in the feedback DACs. The feedback DACs' different delays and gain coefficients are designed such that the modulator is stable. The filter's input signal paths and the compensating DAC are designed such that the gain from the input signal g(t) to the loop quantizer is small, ideally zero. Thus, the loop quantizer's resolving range can be a fraction of the first quantizer's resolving range, whereby the output signal's d(k) resolution can be much higher than the individual resolutions of d0(k) and d1(k).The delta-sigma modulator is well suited for the implementation of high-resolution wide-bandwidth A/D converters. Important applications include digital communication systems.
Owner:ANALOG DEVICES BV

Robot arm control method and control device

When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
Owner:PANASONIC CORP

Robot arm control method and control device

When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
Owner:PANASONIC CORP
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