Boots – shoes – and leggings
Patent
1987-04-06
1989-08-22
MacDonald, Allen
Boots, shoes, and leggings
364163, 364165, 901 9, 901 15, 901 45, 901 34, G06F 1546, G05B 1942
Patent
active
048602159
ABSTRACT:
The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time.
The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.
REFERENCES:
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
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