Torque-position transformer for task control of position...

Details Torque-position transformer for task control of position... Torque-position transformer for task control of position...

2007-04-25

2008-07-29

Duda, Rina I (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S568120, C318S632000, C700S245000, C700S261000

Reexamination Certificate

active

07405531

ABSTRACT:
Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint position. Here E(s) is a servo transfer function D(s) or an effective servo transfer function D*(s). The use of an effective servo transfer function D*s) is helpful in cases where joint nonlinearities are significant. The effective servo transfer function D*(s) is defined with respect to an ideal joint transfer function G*(s)=1/(Ieffs2+beffs), where Ieffis an effective moment of inertia and beffis an effective damping coefficient.

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