Method and apparatus for adaptive force and position control of manipulators
US4860215A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Apr 6, 1987 |
| Grant date | Aug 22, 1989 |
| Priority date | — |
| Expiry date | Apr 6, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/4163
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.