Title:
多優先作動空間インピーダンス制御
Document Type and Number:
Japanese Patent JP5457161
Kind Code:
B2
Abstract:
A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
Inventors:
Muhammad E Abdulah
Matthew Jay Leyland
Robert Pratt
Charles Wampler, The Second
Brian Hargrave
Matthew Jay Leyland
Robert Pratt
Charles Wampler, The Second
Brian Hargrave
Application Number:
JP2009287479A
Publication Date:
April 02, 2014
Filing Date:
December 18, 2009
Export Citation:
Assignee:
GM Global Technology Operations, Inc.
International Classes:
B25J13/00
Domestic Patent References:
| JP7287602A | ||||
| JP2006000955A | ||||
| JP4329403A | ||||
| JP64016389A | ||||
| JP2003058907A | ||||
| JP2008000861A | ||||
| JP2007108955A | ||||
| JP4141387A | ||||
| JP2001113481A | ||||
| JP2007136588A | ||||
| JP2008036761A |
Attorney, Agent or Firm:
Shinjiro Ono
Yasushi Kobayashi
Shigeo Takeuchi
Osamu Yamamoto
Toru Miyamae
Yasushi Kobayashi
Shigeo Takeuchi
Osamu Yamamoto
Toru Miyamae