Method and apparatus for adaptive force and position control of manipulators
US5414799A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Jun 16, 1993 |
| Grant date | May 9, 1995 |
| Priority date | — |
| Expiry date | Jun 16, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/4163
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as "disturbances" which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathemati…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.