nonlinear steureungseinheit for a manipulator with many degrees of freedom.

摘要

A control unit for a multi-degree-of-freedom manipulator comprising a torque sensor (51) for detecting the force exerting on each joint shaft (21) and operational means (71) for adding first and second correction values to the input signals to the motor actuator (32) in accordance with the torque signal produced from the torque sensor (51). With this construction, non-linear and interference forces as well as effects due to the low rigidity of the joints can be removed without identifications of the link or arm parameters and a striking improvement of the control performance can be achieved.