Force reflection with compliance control
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United States of America Patent
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Aug 24, 1993
Grant Date -
N/A
app pub date -
Jul 8, 1992
filing date -
Jul 8, 1992
priority date (Note) -
Expired
status (Latency Note)
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Abstract
Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.
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