发明授权
US07688016B2 Robust impedance-matching of manipulators interacting with unknown environments
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操纵器与未知环境相互作用的鲁棒阻抗匹配
- 专利标题： Robust impedance-matching of manipulators interacting with unknown environments
- 专利标题（中）： 操纵器与未知环境相互作用的鲁棒阻抗匹配
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申请号： US11236507申请日： 2005-09-28
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公开(公告)号： US07688016B2公开(公告)日： 2010-03-30
- 发明人: Farhad Aghili
- 申请人： Farhad Aghili
- 申请人地址： CA Saint-Hubert, QC
- 专利权人： Canadian Space Agency
- 当前专利权人： Canadian Space Agency
- 当前专利权人地址： CA Saint-Hubert, QC
- 代理机构： Marks & Clerk
- 代理商 Richard J. Mitchell
- 主分类号： B25J9/18
- IPC分类号： B25J9/18
摘要：
A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload and worksite. The emulating robotic manipulator is controlled by the real-time simulator in a control loop to replicate the dynamical behavior of said target robotic manipulator in its environment by matching the impedance of the emulating robotic manipulator with that of the target robotic manipulator.
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