Boots – shoes – and leggings
Patent
1990-05-23
1991-10-08
MacDonald, Allen R.
Boots, shoes, and leggings
364165, G06F 1546, G05B 1942
Patent
active
050560387
ABSTRACT:
A force and moment which a manipulator receives from an external environment is detected, and this detected value is multiplied by a gain inversely proportional to a virtual spring constant set by a tool coordinate system, and the product is further converted to a value in each joint coordinate system of the manipulator so as to determine a detection torque. A command value of force and moment is converted to a value in each joint coordinate value of the manipulator in the same way as described above, so as to determine a command torque. A difference between a position command value and a position detection value is multiplied by a virtual spring constant in each joint coordinate system of the manipulator obtained by converting the virtual spring constant, and a differential torque is obtained by converting the aforementioned difference to a force and moment corresponding to the difference. A targeted torque is determined by adding the command torque and the differential torque, and feedback control is effected such that the detected torque of each joint of the manipulator coincides with the targeted torque.
REFERENCES:
patent: 4808063 (1989-02-01), Haley
patent: 4860215 (1989-08-01), Seraji
patent: 4974210 (1990-11-01), Lee
Koide Mitsuo
Kuno Toshitaka
Davis George
Kabushiki Kaisha Toyota Chuo Kenkyusho
MacDonald Allen R.
LandOfFree
Apparatus for effecting coordinated position/force control for a does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Apparatus for effecting coordinated position/force control for a, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Apparatus for effecting coordinated position/force control for a will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-262304