System for intelligent control of mechanical movements in multi-axis robot systems

Abstract

A system for the intelligent control of mechanical movements in a multi-axis robot assembly, the system comprising: a support structure configured to carry a plurality of articulated elements arranged along multiple axes; a plurality of joint assemblies connecting the articulated elements, each joint assembly comprising a bearing arrangement and a rotary coupling interface; a plurality of actuator units, each mechanically connected to a corresponding joint assembly, each actuator unit comprising an electric motor, a reduction gear, and a torque transmission shaft aligned with an axis of the corresponding joint assembly;a sensor arrangement comprising multiple position sensors mounted coaxially with the torque transmission shafts, multiple velocity sensors connected to the actuator units, and multiple force sensors arranged along the joint elements to detect load conditions; a control unit arranged in a housing integrated with the support frame, comprising at least one processor, memory circuits, and signal conditioning circuits; and a communication network consisting of shielded electrical conductors connecting the sensor arrangement, the actuator units, and the control processing unit, the control processing unit being configured to receive sensor signals, process the sensor signals to determine motion parameters, and generate control signals to regulate the operation of the actuator units for coordinated multi-axis motion.

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