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Standalone intelligent autoloader with modularization architectures and self-adaptive motion control ability for mass optical disks duplication

  • US 7,826,924 B2
  • Filed: 05/10/2006
  • Issued: 11/02/2010
  • Est. Priority Date: 05/10/2006
  • Status: Active Grant
First Claim
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1. A Standalone Intelligent Autoloader with Modularization Architectures, comprising:

  • a. A robotic arm further having multiple joints and sensor and controlled by multiple actuators implemented by DC motors;

    b. A duplication tower further having an embedded duplication control board and multiple writer drives;

    c. A control and power unit further having an embedded motion control board and a communication channel between said duplication tower and said embedded motion control board;

    d. A platform having disk stacks, user interface and geometry datum plane and a pre-designed self-adaptive control algorithm further consisting of a Motion Strategy Database, and four logical process-modules of Initial Process, Motion Planning Process, Motion Generating Process and Motion Monitor Process, wherein the orientation and displacement of the robotic arm, as control parameters used and stored in the Motion Strategy Database, are calculated by the integral of angular and translational velocity, respectively, by specifying the duty cycle in discrete time domain in the formula,

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