Title:
関節を制御する方法及びトルク速度変換装置
Document Type and Number:
Japanese Patent JP2010524714
Kind Code:
A
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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Inventors:
Yoshikawa Taizo
Application Number:
JP2010506417A
Publication Date:
July 22, 2010
Filing Date:
April 21, 2008
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J13/00
Domestic Patent References:
| JPH04171503A | 1992-06-18 | |||
| JPH0969013A | 1997-03-11 | |||
| JPH01274980A | 1989-11-02 | |||
| JPH03214303A | 1991-09-19 | |||
| JPS6334086A | 1988-02-13 | |||
| JPH1185214A | 1999-03-30 | |||
| JPH0519862A | 1993-01-29 | |||
| JPS58223803A | 1983-12-26 | |||
| JP2000172341A | 2000-06-23 |
Foreign References:
| WO2006011519A1 | 2006-02-02 |
Attorney, Agent or Firm:
Isono Dozo