Boots – shoes – and leggings
Patent
1983-06-13
1985-10-15
Ruggiero, Joseph
Boots, shoes, and leggings
318568, 364193, 901 9, 901 15, G06F 1546, G05B 1942
Patent
active
045478589
ABSTRACT:
A dynamic control for a multi-link manipulator having a central processing unit, a linear dynamics control loop and a fast nonlinear dynamics control loop. The linear dynamics control loop has servo amplifiers and associated power amplifiers for actuating the links in response to the signals generated by the central processing unit and sensors generating the requisite feedback signals. The nonlinear dynamics control loop comprises a nonlinear dynamics control computer generating correction signals corresponding to the nonlinear dynamics of the manipulator links in response to the signals generated by the central processing unit and feedback signal and means for summing the correction signals with the signals generated by the servo amplifiers. The nonlinear dynamics control computer generates the correction signals for the first 3 links of the manipulator using Lagrangian dynamics and generates the correction signals for the remaining links using recursive Newton-Euler dynamics.
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Allied Corporation
Ignatowski James R.
Ruggiero Joseph
Wells Russel C.
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