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Control system for manipulator apparatus with resolved compliant motion control

  • US 4,603,284 A
  • Filed: 06/05/1984
  • Issued: 07/29/1986
  • Est. Priority Date: 06/05/1984
  • Status: Expired due to Term
First Claim
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1. A control system for manipulator apparatus having a manipulator arm and a predetermined geometrical configuration and structure controllable in a plurality of axes, each controllable axis including drive arrangements for moving the manipulator structure in each of the respective axes, said manipulator structure including compliance intermediate outer portions of the manipulator arm and inner portions of the manipulator arm proximate the drive arrangements, said control system comprising:

  • means for a feedback signal representing the velocity of the manipulator arm in at least one controllable axis, said feedback signal being sensed at and representing velocity at a point between said compliance and said drive arrangement;

    means for generating a drive signal representing the torque of the drive arrangement applied to the manipulator structure in said one controllable axis; and

    means responsive to said feedback signal and said drive signal for generating a synthesized feedback signal representing the velocity of the manipulator arm in said one axis at a point after said compliance.

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