According to an aspect, there is provided method for analyzing movement. Initially, information on one or more desired movement properties for a moving element of a mechanical system powered by an electrical machine which is controlled by a drive is maintained in a memory of a wireless sensing device. The wireless sensing device including one or more sensors is detachably fixed to the moving element of the mechanical system. The one or more sensors include one or more kinematic sensors. The wireless sensing device acquire results of a plurality of measurements performed by the wireless sensing device while the moving element is in motion. During the acquiring, the wireless sensing device compares results of the plurality of measurements with the one or more desired movement properties and communicates with the drive to adjust one or more drive parameters based on the comparing.

Provided is a smart servo motor capable of allowing communication without using any unique ID and an actuator assembly using such smart servo motors. A main controller 11 is connected to a plurality of smart servo motors 1-1 . . . 1-N via a single communication path 13, where the main controller 11 can communicate with the individual smart servo motors using their unique IDs. Operating a selector of one smart servo motor 1-u permits communication between the smart servo motor 1-u and the main controller 11 with a special ID such as code “255”. With this communication, the main controller 11 can retrieve the unique ID assigned to the smart servo motor 1-u.

A packet forwarding circuit (18), such as a programmable switch or router, for example, is disposed between a control server (14) and one or more actuators (17) associated with a robotic arm (16), for example. The packet forwarding circuit is configured to perform real-time velocity control of the one or more actuators in addition to other functionalities that it normally performs, such as routing, packet forwarding, and firewall protection.

Provided is a smart servo motor capable of allowing communication without using any unique ID and an actuator assembly using such smart servo motors. A main controller 11 is connected to a plurality of smart servo motors 1-1 . . . 1-N via a single communication path 13, where the main controller 11 can communicate with the individual smart servo motors using their unique IDs. Operating a selector of one smart servo motor 1-u permits communication between the smart servo motor 1-u and the main controller 11 with a special ID such as code “255”. With this communication, the main controller 11 can retrieve the unique ID assigned to the smart servo motor 1-u.

The present invention relates to multi-limb actuated kinematics (1) having a plurality of drive units (11-16) connected to one another as a serial kinematic chain, the drive units (11-16) respectively having a control unit (11b, 12b, 16b), which are designed to operate at least one drive (11c, 12c, 16c) of the drive unit (11-16) to carry out the movement of the drive unit (11-16), the control units (11b, 12b, 16b) of the drive units (11-16) being connected to one another by a first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17) such that they transmit signals and being designed to receive at least data for operating the drive (11c, 12c, 16c) via the first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17). The multi-limb actuated kinematics (1) are characterised in that the control units (11b, 12b, 16b) of the drive units (11-16) are further connected to one another by a second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19) such that they transmit signals and are designed to forward the data of the second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19).

According to an aspect, there is provided method for analyzing movement. Initially, information on one or more desired movement properties for a moving element of a mechanical system powered by an electrical machine which is controlled by a drive is maintained in a memory of a wireless sensing device. The wireless sensing device including one or more sensors is detachably fixed to the moving element of the mechanical system. The one or more sensors include one or more kinematic sensors. The wireless sensing device acquire results of a plurality of measurements performed by the wireless sensing device while the moving element is in motion. During the acquiring, the wireless sensing device compares results of the plurality of measurements with the one or more desired movement properties and communicates with the drive to adjust one or more drive parameters based on the comparing.

A trajectory control device that controls a trajectory of a movable portion of a processing machine so as to follow a command path accurately. The trajectory control device includes an integrated-length calculation unit that calculates an integrated command length being a length integrated from a start position along a command path, a simulated servo-response filter unit that calculates an integrated response length, a reference-response calculation unit that calculates a reference response position, a response compensation unit that calculates a corrected command position on each of the plurality of axes, and a servo control unit that controls each of the plurality of axes.

Provided is a motor control system of a numerical controller that can instruct a plurality of motors and display data on a display device by means of a single serial bus. An amplifier which controls the motor drives the motor based on a motor command received from the numerical controller via the serial bus. The display device display data on a screen based on display data received from the numerical controller via the serial bus.

An integrated robotic controller is disclosed which includes a communication interface configured to provide connectivity to a set of elements comprising a robotic system and a processor coupled to the communication interface and configured to: receive state information via the communication interface from or more elements included in the set of elements; make based at least in part on the state information a decision as to how to control one or more elements included in the set of elements; and send to each of the one or more elements, via the communication interface, a command determined based on at least in part on the decision.