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A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determine

A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator.

대표청구항 ▼

A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determine

A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator. t value to the desired output value and generating a primary error value as the difference therebetween for each of said time positions; an error minimization device for determining a change in the input value to minimize the primary error value output by said error generator; a summation device for summing said determined input change value with the original input value for each time position to provide a future input value; and a controller for controlling the operation of said error minimization device to operate under control of said optimizer to minimize said primary error value in accordance with said predetermined optimization method. 3. The dynamic controller of claim 2, wherein said controller controls the operation of said summation device to iteratively minimize said primary error value by storing the summed output from said summation device in a latch in a first pass through said error minimization device and input the latch contents to said dynamic forward model in a subsequent pass and for a plurality of subsequent passes, with the output of said error minimization device summed with the previous contents of said latch with said summation device, said latch containing the current value of the input on the first pass through said dynamic forward model and said error minimization device, said controller outputting the contents of said latch as the input to the system after said primary error value has been determined to meet the objectives in accordance with said predetermined optimization method.4. The dynamic controller of claim 2, wherein said dynamic forward model is a dynamic linear model with a fixed gain.5. The dynamic controller of claim 4 and further comprising a gain adjustment device for adjusting the gain of said linear model for substantially all of said time positions.6. The dynamic controller of claim 5, wherein said gain adjustment device comprises: a non-linear model for receiving an input value and mapping the received input value through a stored representation of the system to provide on the output thereof a predicted output value, and having a non-linear gain associated therewith; said linear model having parameters associated therewith that define the dynamic gain thereof; and a parameter adjustment device for adjusting the parameters of said linear model as a function of the gain of said non-linear model for at least one of said time positions. 7. The dynamic controller of claim 6, wherein said gain adjustment device further comprises an approximation device for approximating the dynamic gain for a plurality of said time positions between the value of the dynamic gain at said first time and the determined dynamic gain at the one of said time positions having the dynamic gain thereof determined by said parameter adjustment device.8. The dynamic controller of claim 7, wherein the one of said time positions at which said parameter adjustment device adjusts said parameters as a function of the gain of said non-linear model corresponds to the maximum at the second time.9. The dynamic controller of claim 6, wherein said non-linear model is a steady-state model.10. The dynamic controller of claim 2, wherein said error minimization device includes a primary error modification device for modifying said primary error to provide a modified error value, said error minimization device optimizing the operation of the dynamic controller to minimize said modified error value in accordance with said predetermined optimization method.11. The dynamic controller of claim 10, wherein said primary error is weighted as a function of time from the first time to the second time.12. The dynamic controller of claim 11, wherein said weighting function decreases as a function of time such that said primary error value is attenuated at a relatively high value proximate to the first time and attenuated at a relatively low level proximate to the second time.13. The dynamic controller of claim 2, wherein sa