CONTROL SYSTEM FOR MANIPULATOR APPARATUS WITH RESOLVED COMPLIANT MOTION CONTROL

摘要

CONTROL SYSTEM FOR MANIPULATOR APPARATUSWITH RESOLVED COMPLIANT MOTION CONTROLAbstract of the DisclosureA control system for manipulator apparatus having amanipulator arm movable in a plurality of axes utilizes resolvedcompliant motion control to improve servo response character-istics. The position and velocity of the manipulator arm arecontrolled using load modeling to account for compliance inthe arm and to synthesize feedback signals respresenting move-ment of a remote point of the arm to provide a loop bandwidthgreater than is possible using feedback signals from innerless remote points of the manipulator that are closer to thedrive points. The feedback signals are derived using predeter-mined combinations of force related feedback signals from theaxis drive arrangements and position and velocity feedbacksignals of the manipulator apparatus at points closer to themain drive and support structure of the manipulator and beforecertain compliant portions of the manipulator arm. To furtherenhance response and control of the manipulator arm, loadmodeling is also used to provide controlled deceleration beforethe manipulator arm is brought to a stop during work operation.