Apparatus and method for controlling elastic actuator

Details Apparatus and method for controlling elastic actuator Apparatus and method for controlling elastic actuator

2007-08-21

2007-08-21

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S217000, C700S218000, C700S189000, C700S190000, C700S245000, C700S258000, C700S259000, C700S260000, C700S261000, C700S262000, C318S560000, C901S015000, C901S016000, C901S021000, C901S039000, C701S023000

Reexamination Certificate

active

11654569

ABSTRACT:
An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

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