초록 ▼

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

대표청구항 ▼

In a hybrid controller adapted to issue a manipulator control signal which controls a manipulator\s position and force in Cartesean space, wherein the manipulator and its environment form a system exhibiting dynamics which are non-linear and also include manipulator and system parameters which are n

In a hybrid controller adapted to issue a manipulator control signal which controls a manipulator\s position and force in Cartesean space, wherein the manipulator and its environment form a system exhibiting dynamics which are non-linear and also include manipulator and system parameters which are not known to a user who controls the manipulator in Cartesean space through a user-initiated position and force trajectory command that is received at the hybrid controller, and wherein the hybrid controller senses force and position of said manipulator in said Cartesian space, the improvement comprising: manipulator driving means responsive to said control signal issued by said hybrid controller for driving said manipulator in said environment to achieve, in Cartesean space said desired position and force indicated by said trajectory command received by said hybrid controller, which command is issued to said hybrid system free of a priori knowledge of any of said non-linearities and/or the manipulator\s and/or system\s parameters; and adaptive control means, responsive to said sensed force and position, for varying said control signal applied to said manipulator\s driving means, which variable control signal compensates in real-time for the system\s nonlinearities as said manipulator is driven in Cartesean space to said commanded position and force.