Title:
JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS
Document Type and Number:
Japanese Patent JP2015163429
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a control method and system of tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints in multi-joint robot hands.SOLUTION: The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear calculation. The torque error is calculated using tendon tensions sensed by a sensor and a reference torque and internal tension. The method can be used to control the joint impedance by calculating the reference torque on the basis of a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting it back into joint space.
More Like This:
| WO/2011/017668 | MULTIMODAL DYNAMIC ROBOTIC SYSTEMS |
| JP4810880 | Robot and its control method |
| JPH08241105 | CONTROL UNIT OF ROBOT |
Inventors:
REILAND MATTHEW J
PLATT ROBERT
WAMPLER CHARLES W II
ABDALLAH MUHAMMAD E
HARGRAVE BRIAN
PLATT ROBERT
WAMPLER CHARLES W II
ABDALLAH MUHAMMAD E
HARGRAVE BRIAN
Application Number:
JP2015076118A
Publication Date:
September 10, 2015
Filing Date:
April 02, 2015
Export Citation:
Assignee:
GM GLOBAL TECH OPERATIONS INC
International Classes:
B25J13/00
Domestic Patent References:
| JPH0631662A | 1994-02-08 | |||
| JP2001179676A | 2001-07-03 | |||
| JPH1094990A | 1998-04-14 | |||
| JP2004322283A | 2004-11-18 |
Attorney, Agent or Firm:
Yasushi Kobayashi
Shigeo Takeuchi
Osamu Yamamoto
Toru Miyamae
Shigeo Takeuchi
Osamu Yamamoto
Toru Miyamae
Previous Patent: MACHINE TOOL COMPRISING FUNCTIONAL PART WHICH GENERATES HEAT DURING OPERATION
Next Patent: CERIUM OXIDE RECOVERY METHOD
Next Patent: CERIUM OXIDE RECOVERY METHOD