Device and method for controlling manipulator
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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Abstract
Disclosed herein are a device and method of controlling a manipulator. The device includes a device to control a manipulator, including 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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Citations
10 Claims
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1. A device to control a manipulator, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of controlling a manipulator, comprising:
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sensing a joint position and a joint torque of the manipulator; and estimating disturbance torque using a state space equation with respect to the manipulator based on the sensed joint position and joint torque. - View Dependent Claims (8, 9, 10)
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Specification