Force reflection with compliance control

US5239246A · kind A · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventor

• Won Seok Kim · Seoul, KR

Key dates

• Filing date: Jul 8, 1992
• Grant date: Aug 24, 1993
• Expiry date: Jul 8, 2012

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1633
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.