Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1992-07-08
1993-08-24
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318560, 31856821, 31856817, 31856812, 901 9, 901 19, B25J 918, G05B 1919
Patent
active
052392465
ABSTRACT:
Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.
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Jones Thomas H.
Kusmiss John H.
Masih Karen
Miller Guy M.
Shoop Jr. William M.
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