公开(公告)号：US20210138643A1

公开(公告)日：2021-05-13

申请号：US17089238

申请日：2020-11-04

Applicant: ROLLS-ROYCE plc

Inventor： Arthur Wee ,  Muhammad Izzat Bin Roslan ,  Domenico Campolo ,  Menoth Mohan Dhanya ,  Gia Hoang Phan ,  Sreekanth Kana

IPC: B25J9/16 ,  B25J11/00

Abstract: Disclosed herein is an impedance control system for a robot arm. The system is able to provide at least two different levels of stiffness/compliance, and values for stiffness/compliance in the can be independently defined and set in at least first and second directions. Specifically, this allows the stiffness in said first direction to be set at a lower value than the stiffness in said second direction within the control system.