Control unit for a multi-degree-of freedom manipulator

Details Control unit for a multi-degree-of freedom manipulator Control unit for a multi-degree-of freedom manipulator

1988-02-29

1991-01-29

Smith, Jerry

Boots, shoes, and leggings

36416701, 901 9, 901 23, B25J 916, G06F 900

Patent

active

049891618

ABSTRACT:
A control unit for a multi-degree-of-freedom manipulator comprising a torque sensor for detecting the force exerting on each joint shaft and operational means for adding first and second correction values to the input signals to the motor actuator in accordance with the torque signal produced from the torque sensor. With this construction, non-linear and interference forces as well as effects due to the low rigidity of the joints can be removed without identifications of the link or arm parameters, and a striking improvement of the control performance can be achieved.

REFERENCES:
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patent: 4603284 (1986-07-01), Perzley
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patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4725942 (1988-02-01), Osuka
Hewit et al., "Fast Dynamic Decoupled Control for Robotics, Using Active Force Control," Mechanism and Machine Theory, vol. 16, No. 5, 1981, pp. 535-542.
Soviet Inventions Illustrated, Week 7942, 28th Nov. 1979, Abstracts No. 8950B/42, Derwent Publications Ltd, London, GB & SU-A-639699 (Berezkin VP), 12-08-1977.
Arai et al., "Bilateral Control for Manipulators with Different Configurations," IECON, Oct. 1984, vol. 1, pp. 40-45.
Patent Abstracts of Japan, vol. 9, No. 116 (P-357) (1839), 21st May, 1985.

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