Invention Application
- Patent Title: JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS
- Patent Title (中): 联动驱动控制器的联合空间阻抗控制
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Application No.: US12335153Application Date: 2008-12-15
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Publication No.: US20100152898A1Publication Date: 2010-06-17
- Inventor: Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Muhammad E. Abdallah , Brian Hargrave
- Applicant: Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Muhammad E. Abdallah , Brian Hargrave
- Applicant Address: US MI DETROIT US DC WASHINGTON
- Assignee: GM GLOBAL TECHNOLOGY OPERATIONS, INC.,THE UNITED STATES OF AMERICA AS REPRESENTED BY THE,ADMINISTRATOR OF THE NATIONAL SPACE ADMINISTRATION
- Current Assignee: GM GLOBAL TECHNOLOGY OPERATIONS, INC.,THE UNITED STATES OF AMERICA AS REPRESENTED BY THE,ADMINISTRATOR OF THE NATIONAL SPACE ADMINISTRATION
- Current Assignee Address: US MI DETROIT US DC WASHINGTON
- Main IPC: B25J13/00
- IPC: B25J13/00

Abstract:
A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on 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 ii back into joint space.
Public/Granted literature
- US08060250B2 Joint-space impedance control for tendon-driven manipulators Public/Granted day:2011-11-15
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