Military robotic controller with majorizing function and nonline

Details Military robotic controller with majorizing function and nonline Military robotic controller with majorizing function and nonline

1990-10-04

1992-03-31

Fleming, Michael R.

Robots

Counterbalance

901 2, G05B 1942, G06F 1546

Patent

active

051014726

ABSTRACT:
An error-reducing feedback controller for a robotic system wherein a new torque term is added to the existing generated torque in order to compensate for nonlinearity or imperfect modeling accuracy in the existing system. Equations for development of the new torque term using relatively few inputs from the system output are described, along with several examples, including numeric values.

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patent: 4791588 (1988-12-01), Onda et al.
patent: 4985668 (1991-01-01), Nakazumi et al.

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