发明申请
- 专利标题： MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL
- 专利标题（中）： 多重优先操作空间阻抗控制
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申请号： US12338697申请日： 2008-12-18
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公开(公告)号： US20100161127A1公开(公告)日： 2010-06-24
- 发明人: Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
- 申请人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
- 申请人地址： US MI Detroit US DC Washington
- 专利权人： GM GLOBAL TECHNOLOGY OPERATIONS, INC.,THE U.S.A AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION
- 当前专利权人： GM GLOBAL TECHNOLOGY OPERATIONS, INC.,THE U.S.A AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION
- 当前专利权人地址： US MI Detroit US DC Washington
- 主分类号： B25J13/08
- IPC分类号： B25J13/08 ; G05B19/00 ; G06F19/00 ; G05B15/00 ; B25J19/02
摘要：
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.
公开/授权文献
- US08170718B2 Multiple priority operational space impedance control 公开/授权日：2012-05-01