Open-loop torque control on joint position-controlled robots

Details Open-loop torque control on joint position-controlled robots Open-loop torque control on joint position-controlled robots

2011-07-26

2011-07-26

Benson, Walter (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S568110, C318S432000, C901S008000, C901S023000, C700S037000, C700S038000, C700S039000, C700S044000, C700S045000

Reexamination Certificate

active

07986118

ABSTRACT:
A joint of a robot is controlled by a torque command. The joint has a position controller with a position feedback loop. The torque command is received for the joint, and a velocity feedforward command is determined for realizing the torque command using the position controller. The velocity feedforward command is sent to the position controller and the position feedback loop is canceled. The position feedback loop is canceled by sending a position command to the position controller, where the position command is an actual measured position of the joint. The position feedback loop is also canceled by setting the gain of the position feedback loop to zero.

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