Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1996-01-17
1998-09-29
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 31856819, 31856822, 395 95, 395 97, 901 34, 901 45, 36442405, G05B 1942, G06F 1546
Patent
active
058149597
ABSTRACT:
A method and apparatus for controlling a robot which performs an operation on an object while applying any desired force to the object, and a method of controlling automobile suspensions so as to maintain the contact between the automobile and a road surface appropriately. A robot controller which controls the motion of an end effector includes a rotating body, using an external force applied to the effector. The controller beforehand measures the tensor of inertia of the rotating body, calculates the angular momentum of the rotating body on the basis of a sensed value output from a unit for sensing the rotational speed of the rotating body and the tensor of inertia of the rotating body, calculates a gyro-moment occurring in the rotating body on the basis of a sensed value output from a sensor for sensing the motion of the robot and the angular momentum of the rotating body, and uses as a control input value the external force from a sensor for sensing value minus the value of the gyro-moment. An automobile suspension is controlled by an external force applied to a wheel of the automobile, using as a control input value a sensed value output from a sensor for sensing the external force minus the value of a gyro-moment occurring in the wheel.
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"Develoment of an Impeller Grinding Robot System and a Gyro-Moment Compensated Compliance Control", Y. Nonaka et al, Proceedings of 1995, IEEE International Conference on Robotics and Automation, Nagoya Congress Center, May 21-27, 1995, Japan, vol. 2 of 3.
Nonaka Youichi
Sakaue Shiyuki
Hitachi , Ltd.
Ip Paul
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