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Device and method for controlling manipulator

  • US 20090295324A1
  • Filed: 03/11/2009
  • Published: 12/03/2009
  • Est. Priority Date: 05/30/2008
  • Status: Abandoned Application
First Claim
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1. A device to control a manipulator, comprising:

  • a sensing unit to sense a joint position and joint torque of the manipulator;

    a disturbance estimator to estimate disturbance torque using a state space equation with respect to the manipulator having the sensed joint position and joint torque as input; and

    a controller to control the manipulator based on the estimated disturbance torque.

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