Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2008-12-15
2011-11-15
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C901S002000, C901S011000, C901S014000, C901S019000, C901S021000, C901S029000
Reexamination Certificate
active
08060250
ABSTRACT:
A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.
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Abdallah Muhammad E.
Hargrave Brian
Platt Robert
Reiland Matthew J.
Wampler, II Charles W.
Amin Bhavesh V
GM Global Technology Operations LLC
Miller John A.
Miller IP Group, PLC
The United States of America as represented by the Administrator
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