Apparatus and method for performing open loop control and closed loop control of a robot manipulator

摘要

The present invention relates to an apparatus and method for performing open-loop and closed-loop control of a robot manipulator driven by M actuators (ACT _m ) and having an end effector. The present invention relates to an external force winder acting on the end effector, (101) and a controller (102) connected to the first unit (101) and the actuators (ACT _m ), the first controller (R1) being a force regulator and the second controller And a second regulator R2 connected to the first regulator R1 wherein the second regulator R2 is an impedance regulator, an admittance regulator, a position regulator or a constant speed regulator, and determining, by the manipulated variables, a power _winner ( _m , t) for the object when the end effector makes contact with the surface of the object, The said actuators (ACT _m) is, the regulator 102 is operated such that; and includes, u _m (t) = u _{m, R1} (t) + u _{m, R2} (t), wherein first regulator (R1) is an enemy (product) of the manipulated variable, u _m, the manipulated variable _{u m R1 (t), R1} (t) * and the function S (v (t)), or Q- dimensional function S * is performed, and configured to be determined as (v * (t), u m, R1 (t) *), _{where, u m, R1 (t)} = S (v (t)) u m, R1 (t) * Or u _{m, R 1} (t) = S * (v * (t), u _{m, R 1} (t) *); v (t) = v ( , ); v ∈ [v _a , v _e ], v * (t) = v * , ) = [v ₁ * ( , ), ..., v _Q * ( , )] to be.