Collision detecting method

Details Collision detecting method Collision detecting method

1995-08-24

1998-02-17

Sircus, Brian

Electricity: motive power systems

Positional servo systems

With protective or reliability increasing features

318566, 364150, 364184, 36447419, F15B 900, G05B 500

Patent

active

057194793

ABSTRACT:
A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.

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