Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1994-03-24
1996-03-05
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 31856822, 31856819, 395 95, 395 97, 901 34, 901 45, G05B 1942, G06F 1546
Patent
active
054970610
ABSTRACT:
A control system in which an end effector of a robot is mechanically compliant for a particular object. The robot has multiple degrees of freedom and movement and includes a sensor which senses a velocity nd a sensor which senses an external force. A virtual compliance control method is applied to the robot. Influence of the weight and gyro moment of the end effector is subtracted from a value obtained from a mechanism which senses the external force to set a term of the external force in a mathematic model of the control system constructed during control. By such arrangement, when a rotational body having a mechanically large rotational momentum is set as the end effector of the robot, the control system is mechanically compliant with the object.
REFERENCES:
patent: 4949026 (1990-08-01), Mead
patent: 4999553 (1991-03-01), Seraji
patent: 5023808 (1991-06-01), Seraji
patent: 5056038 (1991-10-01), Kuno et al.
patent: 5115418 (1992-05-01), Shimada
patent: 5159249 (1992-10-01), Megherbi
patent: 5179514 (1993-01-01), Rastegar et al.
patent: 5193963 (1993-03-01), McAffee et al.
patent: 5206930 (1993-04-01), Ishikawa et al.
patent: 5220261 (1993-06-01), Kempas
patent: 5224032 (1993-06-01), Worn et al.
patent: 5239248 (1993-08-01), Shimada et al.
patent: 5260629 (1993-11-01), Ioi et al.
Society of Instrument and Control Engineers, Collection of Paper vol. 22, No. 3, pp. 343-350 Mar. 1986, "Virtual Compliance Control of Multiple Degree of Freedom Robot".
Nonaka Youichi
Sakaue Shiyuki
Hitachi , Ltd.
Ip Paul
LandOfFree
Method of controlling robot's compliance does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Method of controlling robot's compliance, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method of controlling robot's compliance will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1414945