Boots – shoes – and leggings
Patent
1988-09-30
1991-06-11
MacDonald, Allen R.
Boots, shoes, and leggings
364163, 364165, 901 9, 901 15, 901 34, 901 45, G06F 1546
Patent
active
050238086
ABSTRACT:
The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as "disturbances" which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.
REFERENCES:
patent: 4275986 (1981-06-01), Engelberger et al.
patent: 4547858 (1985-10-01), Horak
patent: 4580229 (1986-04-01), Koyama et al.
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4725942 (1988-02-01), Osuka
California Institute of Technology
MacDonald Allen R.
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