Control procedure for controlling the torque and/or position of at least one elasticity-bearing joint of a handling device, torque controller, position controller and use of the procedure for controlling the position and/or torque of at least one elasticity-bearing joint of a handling device

摘要

Control procedure for controlling a torque or force and/or position of at least one elasticity-bearing joint of a handling device, where the position of at least one joint is adjustable by means of an adjusting device includes the steps:Define the desired dynamic behaviour for the control circuits to control torque or force and/or position of at least one joint when formulating the dynamics of the handling device;Determine and include at least one torque or force and/or at least one joint orthe left-hand position of at least one elasticity-bearing joint to control torque and/or position.